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Designing and constructing delta robot for industrial purposes in sorting, picking and placing work pieces automatically

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The main purpose of making this thesis is to build Delta Robot Automation Systemrnwith capability in sorting, picking, and placing different work pieces automatically. Atrnthe end, this thesis will be handed over for exercise module in ManufacturingrnAutomation and Flexible Manufacturing Automation System subjects. Problemsrnwhich have to be solved consist of how to control servo motor by sending data packetrnserially via RS485, how to control the kinematic movement of Delta Robot, how tornaccess parallel port in motherboard as main controller to control actuator, how to sortrnthe work piece using image processing, how to program algorithm of automatic mode,rnand how to embed whole system and synchronize them. Inverse kinematic wasrnapplied, software program used was QT4 using C programming, inpout32.dll forrnaccessing parallel port, and contours method was used in image processing,rnpneumatic vacuum and web cam was used to sort, pick and place. The result of thisrnthesis was the whole system running synchronously. For further development, therncontrol system of this Delta Robot to get high speed and precision needs to bernimproved.

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Availability

B00897

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Available

Detail Information

Series Title

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Call Number

897

Publisher

: Swiss German University., 2011

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

MT

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