Design and Application of Plc Controlled Robotic Arm Choosing Objects According to Their Color

Authors : Hasan ŞAHİN, Rüştü GÜNTÜRKÜN, Osman HIZ

Pages : 52-62

View : 26 | Download : 8

Publication Date : 2020-12-30

Article Type : Research Paper

Abstract :Abstract: In this study, design and application of electro-pneumatic controlled color selector robot arm was performed. S7 1200 PLC, stepper motor and drives, screw shaft, conveyor belt, selenoid valves, vacuum apparatus and color sensors were used for this purpose. Red and green colored balls moving on belt are carried by worm shaft controlled by stepper motor and classified into separate boxes according to their color. Down, up, forward and backward movements of robot arm that we designed is provided with pneumatic drive, rotating around itself and axis back and forth movement is provided by stepper motor drive. The difference of this study from previous studies is that working area of the robot arm was extended by using a ball screw shaft while robot arm having cylindrical working area is generally used in other studies. For control of Pneumatic driven robot arm, which is an industrial and stable control device. Movable pneumatic system was used in robotic arm design for transportation. Aluminum profile was used to light the robot arm. Designed robot arm is capable of carrying objects up to 0.8 kg. Tiaportal V.2.1 program was used to program the PLC and Axis v1.0 version was used for axis control.
Keywords : Electro Pneumatic, Color Sensor, Motion Control, PLC, Robotic Arm, Step Motor