DESIGN AND FABRICATION OF A PRISMATIC-PRISMATIC

PAINTING ROBOT
A
Dissertation submitted in partial ulillment o t!e
A"ademi" Re#uirements or t!e A$ard o
MASTER OF TEC%NO&OG'
IN
MEC%ANICA& ENGINEERING
(Spe"iali)ation in CAD*CAM+
B,
RA-I RA.ARAP/
01233D0405
/nder t!e esteemed 6uidan"e o
Mr7 C%7SRINI-AS RAO
Asso"iate Proessor8
DEPARTMENT OF MEC%ANICA& ENGINEERING
SRI NID%I INSTIT/TE OF SCIENCE AND TEC%NO&OG'
G%AT9ESAR
%'DERABAD 5032037 A7P
(:00;-30+
i
DEPARTMENT OF MEC%ANICA& ENGINEERING
SRI NID%I INSTIT/TE OF SCIENCE AND TEC%NO&OG'
G%AT9ESAR
%'DERABAD 5032037 A7P
CERTIFICATE
This is to certify that the dissertation work entitled DESIGN AND FABRICATION OF A
PRISMATIC-PRISMATIC PAINTING ROBOT is a bonafide work carried out by RAVI
RAJARAPU bearing Roll. No: 08311D040! in partial fulfillment of the requirements for
the award of the degree M"#$%& o' T%()*olo+, with specialization CAD-CAM from The
Department of Mechanical Engineering, Srinidhi Institute of Science and Technology,
hatkesar, !yderabad, is the record of bonafide work carried out by him under the guidance
and super"ision of CH.SRINIVAS RAO, Dept# of Mechanical Engineering, during the
academic year $%%&'$%(%#
Pro<e"t Guide %ead o t!e Department
(C%7SRINI-AS RAO+ (Dr7 T7C%7SI-AREDD'+
Asso"iate Proessor Proessor8 %ead
Dept7 o Me"!ani"al En6ineerin68 Dept7 o Me"!ani"al En6ineerin68
SNIST SNIST
G!at=esar G!at=esar
%,derabad - 503203 %,derabad - 503203

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AC9NO>&EDGEMENT
It is with great pleasure that I wish to acknowledge my guide that have helped me
tremendously during the difficult, challenging, yet rewarding and exciting path towards a
thesis. Without help and support, none of this work could have been possible.
First and foremost, I am greatly indebted to my guide C%7SRINI-AS RAO8
Department o Me"!ani"al En6ineerin68 Snist8 G!at=esr8 %,derabad7 For his guidance,
encouragement, motivation and continued support throughout my thesis work. He has
allowed me to pursue my research interests with sufficient freedom, while always being there
to guide me. Working with him has been one of the most rewarding experiences of my
professional life.
I would like to thank Dr7T7C%7SI-AREDD', %ead8 Department o Me"!ani"al
En6ineerin6? my interactions with him helped me grow professionally.

RA-I RA.ARAP/
iii
A!"#A$"
Pro<e"t deinition@
"he main aim of this pro%ect is to design and fabricate a prismatic&prismatic'pp( robot to
paint a wall by specifying the coordinates and using the end&effector as spray painting gun
tool.
Ob<e"tiAe@ )esign and fabricate a ** robot i.e. obtain its direct, inverse and calculating the
amount of tor+ues re+uired for two motors and then fabricate and use this for painting
purpose.
S"ope@
For painting plain areas pp robot is very suitable since it has only two dimensions
vi, length and breath.
With the kinematic model and dynamic analysis developed we can use for building
a robot of higher capacity.
"he kinematic model about direct and inverse model analysis will be done on the
above said robot.
Si6nii"an"e o problem@
"his robot is planar robot with prismatic %oints and can be effectively used for painting
purpose where as ## type is effectively used for pick and place operation since my ob%ective
is to paint a wall the above said robot is +uite suitable.
AdAanta6es o solution@
A systematic procedure that is followed can be used to developed similar robot of higher
capacity and paint large area walls.
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CONTENT
PRE&IMINARIES Pa6e No7
$ertificate ii
Acknowledgement iii
Abstract iv
$ontents v
-ist of figures viii
CHAPTER1 INTRODUCTION
... Introduction to robotics /
../ *ro%ect over view 0
..0 1inematic model of cylindrical arm 02
..3 Frame assignment of cylindrical arm 0.
..4 "hesis over view 0/
C%APTER: EMBEDDED S'STEMS
:73 Introduction to embedded systems 05
/.... Histroy 06
/.../ "ools 07
/...0 #esources 07
/...3 #eal time issues 32
:7: 8eed for embedded systems
/./.. )ebugging 3.
/././ #eliability 3/
:72 9xplanation of embedded systems
v
/.0.. !oftware architecture 3/
/.0./ !tand alone embedded systems 30
/.0.0 #eal time embedded systems 33
/.0.3 8etwork communication of embedded systems 34
/.0.4 )ifferent types of processing units 3:
:74 Application of embedded systems
/.3.. $onsumer application 3:
/.3./ ;ffice automation 35
/.3.0 Industrial automation 35
/.3.3 $omputer networking 36
/.3.4 "ele communications 36
C%APTER 2 %ARD>ARE DESCRIPTION
0.. Introduction 42
0./ micro controller 4.
0./.. Introduction to micro controller 4.
0././ )escription 4/
0./.0 *in diagram 44
0.0 #egulated power supply 45
0.0.. Introduction 45
0.0./ lock diagram 46
0.3 -ight emitting diode :7
0.4 #F "ransceiver 5.
0.4.. 9lectronic serial number 50
0.: )$ motor 56
0.5 )$ motor driver 62
0.6 #! /0/ cable 60
0.6.. #!&/0/ !pecifications 63
0.7 )7 *in connector 64
C%APTER 4 SOFT>RAE DESCRIPTION
3.. 9xpress *$ 65
3.... *reparing express *$ for first use 66
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3.../ "he interface 66
3...0 )esign considerations 67
3./ *I$ $ompiler 72
3.0 *roteus 7.
3.3 *rocedual steps for compilation,simulation and dumping 7/
3.3.. $ompilation and simulation steps 7/
3.3./ )umping steps 70
3.4 !erial communication 73

C%APTER 5 PRO.ECT DESCRIPTION
4.. #F "ransceiver interfacing with *I$.:F655A .2/
4./ #F "ransceiver interfacing with *$ .20
4.0 -9) interfacing with *I$.:F655A .24
4.3 Interfacing )$ motor driver to micro controller .2:
4.4 Interfacing crystal oscillator to micro controller .26
C%APTER B RES/&TS C DISC/SSIONS
:.. #esults ..4
:./ $onclusion ..4

C%APTER D #9F9#98$9 ..5
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&IST OF FIG/RS
TIT&E
FIG7NO PAGE7NO
Figure. <echanical structure of a /&dof cylindrical 'pp(manipulator arm 02
Fig / Frame assignment for the cylindrical manipulator arm 0.
Fig /.. A modern example of embedded system 06
Fig /./ 8etwork communication embedded systems 34
Fig /.0 Automatic coffee makes e+uipment 3:
Fig /.3 Fax machine 35
Fig /.4 *rinting machine 35
Fig /.: #obot 35
Fig /.5 $omputer networking 35
Fig /.6 $ell *hone 36
Fig /.7 Web camera 36
Fig 0.. lock diagram of pc controlled wireless robot 42
Fig 0./ <icrocontroller 4.
Fig 0.0 Architecture of *I$ microcontroller 43
Fig 0.3 *in diagram of *I$.:F65507 44
Fig 0.4 #egulated *ower !upply 46
Fig 0.: !tep&)own "ransformer :2
Fig 0.5 Hi&Watt 7= attery :.
Fig 0.6 *encil attery ;f ..4= :/
Fig 0.7 ridge rectifier> a full&wave rectifier using 3 diodes :3
Fig 0.7.. ).25 :3
Fig0..2 $onstruction of capacitor :4
Fig0... 9lectrolytic capacitor :4
Fig0../ =oltage regulator ::
Fig0..0 #esister :7
Fig0..3 colour brands in resister :7
Fig0..4 Inside a -9) :7
Fig0..: *arts of a -9) :7
viii
Fig0..5 9lectrical symbol ? polarities of -9) 52
Fig0..6 #F)/.500 "ransceiver 5.
Fig0..7 *in diagram of #F)/.500 5/
Fig0./2 "ransceiver top view and bottom view 5:
Fig 0./. )$ <otor 56
Fig 0.// !imple electrical diagram of )$ motor 57
Fig 0./0 ;peration of a )$ <otor 57
Fig0./3 -/70)I$ 6.
Fig 0./4 -/70) *in )iagram 6.
Fig 0./:> Internal structure of -/70) 6/
Fig0./5 #! /0/ cable 60
Fig 0./6 )7 pin connector 63
Fig 3.. "ool bar necessary for the interface 66
Fig 3./ *icture of compilation part using *I$ $ compiler 7/
Fig 4.. schematic diagram of pc controlled wireless robot .2/
Fig 4./ #F transceiver interfacing with *I$ microcontroller .20
Fig 4.0 #F transceiver interfacing with pc .23
Fig4.3 Interfacing with pc through #!/0/,)b7 .24
Fig 4.4 -9) interfacing with *I$ microcontroller .24
Fig 4.: )iagram of -9) interfacing with *I$ microcontroller .2:
Fig 4.5 !chematic )iagram of )$ <otor )river for Interfacing to <icrocontroller .2:
Fig 4.6 <otor driver interfacing with micro controller .25
Fig 4.7 crystal oscillator interfacing with micro controller .26
Fig5.. *hotograph of *ro%ect 1it .27

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