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BÁO CÁO THỰC TẬP TỐT NGHIỆP, We have leant about robotic arm intheory and applied to create the real product
Contents COVER PAGE Under the supervision and guidance of Assoc Prof Phan Bui Khoi at Hanoi university of Science and Technology for months We have leant about robotic arm in theory and applied to create the real product Students: Le Xuan Tu and Pham Van Hai Position: Student of Hanoi university of Science and Technology Class: Mechatronics – Advanced program – K56 Tu’s phone number : +84985799987 – ID 20110735 Hai’s phone number: +841659015834 – ID 20110272 Dates: January 2016 – April 2016 We write this report when we are going to complete our final thesis After months we had improved our skills as programming , drawing and simulating which are essential to our final thesis and useful for us to find a suitable after that This report covers the method that is used to transport blood in the hospital and how this method can be greatly improved with the use of the robotic sorting system The report details the entire method of how the robot was designed, assembled, programmed, and interfaced with software and hardware Also how the infrared sensor was coded and how the motors were synchronized to go to the necessary position CHAPTER 1: OVERVIEW ON ROBOTIC ARM A brief history of medical robot In 1985 a robot, The PUMA 560, was used to place a needle for a brain biopsy using CT guidance Three years later the same machine was used to perform a transurethral resection Figure 1: PUMA 560 In 1987 robotics was used in the first Laparoscopic surgercy, a cholescytecotomy In 1988, The PROBOT, developed at Imperial College London, was used to perform prostatic surgery Figure 2: PROBOT The ROBODOC from Integrated Surgical Systems was introduced in 1992 to mill out precise fittings in the femur for hip replacement Figure 3: ROBOTDOC Research motivation Because the advantage is that robot-assisted surgery gives the surgeon better control over the instruments and a better view, surgeons don't have to stand all of the time during the surgery and not get tired as quickly Also, robots not make the same mistakes that humans can make Robots are extremely more exact, and they not move by accident during the surgery This could also make patients feel less worried before surgery Finally, we want the life become better, especially for people health Objectives The purpose of the project is to design a robotic sorting system for use in the medical industry This robot will be programmed to go through a routine to locate blood samples, in test tubes, and transport them into their desired location The robot will consist of a fixed base plate, a rotating joint at gripper, a link robot arm and rotating base Fixed on the end of the arm will be an infrared sensor and a gripper to pick up the test samples CHAPTER 2: DESIGNING, MACHINING AND PROGRAMMING Designing Figure 4: 3D model Figure 5: Fixed base and rotating joint Figure 6: The first link Figure 7: Rotating joint and gripper Figure 8: Servo motor –Mg995 Machining The parts of product Figure 11: Servomotor Pulse Diagram 3.4 PIC16 RC Servo controller – PSC16A The PSC16A is an integrated circuit board that controls the servomotors on the robot arm It mounts on the project board directly behind the robot arm itself Each servomotor is attached (first we ensured that the wires were long enough) to its respective set of pins (0 through were used in this case) Figure 12: PSC16A Board Due to its level of complexity, the PSC16A is more appropriately viewed as a “black box” unit that simply controls the servos A detailed circuit diagram is included in the appendices 3.5 IRPD Sensor To allow the robot arm to detect the presence of an object at a specific location, we used an Infrared Proximity Detector (IRPD) with a suitable range The IRPD employs a Panasonic PNA4602M IR sensor accompanied by two LEDs The module itself has several amplifiers and filters The detector itself has what is known as a modulated carrier, which allows for the elimination of excess sight (such as responding to sunlight) The sensitivity of the LEDs is adjustable, and the sight of the sensor includes the detection of objects on the left, right and completely in the center The information is then digitally sent to a receiving microcontroller, which is coded to either ignore the location if a test tube is not present, or complete a subroutine, which removes the tube if present Figure 13: IRPD Sensor Software 4.1 TOROBOT RIOS (TOROBOT Robotic Arm Interactive Operating System) software (for use with the PIC16RC controller) is used to test inputs and outputs, and to generally configure the robotic arm (in particular the labeling and motion of the servomotors) After each servomotor has been “plugged in” to a specific channel on the PIC16RC board, the user is ready to begin the process An image of the main screen is displayed below: Figure 14: TOROBOT RIOS interface 4.2 TTY The functionality of the code (to be compiled in C) was tested using TTY, which is essentially a text-based programmer, used directly through the serial port on the PIC16RC board By typing lines of code in directly, the user can set the positions on the arm This is a lot quicker than recoding and recompiling in C each and every time you want to make an adjustment Also, commands are typed very intuitively CONCLUSION The goal of this project was to construct a model robot that could detect and transport blood samples in the medical industry After starting out with a vague idea of how to program a microcontroller and formulating a plan to achieve the created goal of the project, the robot kit was received and shortly after the robot was created The infrared sensor was attached to the gripper for the purpose of locating if there is a sample ready for delivery or not The robots motors and sensors were then connected to the PIC microcontroller board so they could be programmed to the task at hand The end result of the project was a small prototype that was capable of sensing objects and transporting them to a desired location This robotic sorting system provides a more efficient and effective means of locating and transporting blood samples It will allow lab technicians to be trained into different areas and shorten wait times in hospitals REFERNCE www.lynmotion.com www.robotshop.com www.societyofrobot.com www.mohinhrobot.com www.titans.com www.amazon.com APPENDIX Source code of Micro-controller PIC 16F877 #include #fuses HS,NOWDT,NOPROTECT,NOPUT,NOBROWNOUT #use delay(clock=19660800) #use rs232(baud=38400, xmit=PIN_C6, rcv=PIN_C7, PARITY=N, BITS =8) // Motor declarations // #0 = Base // #1 = Shoulder // #2 = Elbow // #3 = Wrist // #4 = Gripper // #5 = Wrist Rotation void main() { int sensor; set_tris_a( 0xff ); while( ) { delay_ms(6000); /* set all of PORTA for input */ // Stage 1: Initial Position printf("#1 P1000 #2 P900 #3 P1350 #4 P1500 #5 P1650 T3000\n\r"); delay_ms(4000); printf("#0 P1000 T3000\n\r"); delay_ms(4000); // Stage 2: Scan Position A printf("#0 P1260 T3000\n\r"); delay_ms(4000); printf("#1 P1100 #2 P950 T3000\n\r"); delay_ms(4000); sensor = input_a ( ) ; if(sensor == 0) /* Input byte from PORTA */ { // Stage 3: Grip Object A printf("#1 P1250 #2 P1100 T3000\n\r"); delay_ms(4000); printf("#4 P1100 T3000\n\r"); delay_ms(4000); printf("#3 P1000 #2 P1100 T3000\n\r"); delay_ms(4000); printf("#1 P600 #2 P700 T3000\n\r"); delay_ms(4000); printf("#0 P1450 T3000\n\r"); delay_ms(4000); printf("#1 P700 #2 P600 T3000\n\r"); delay_ms(4000); printf("#3 P1350 T3000\n\r"); delay_ms(4000); printf("#4 P1500 T3000\n\r"); delay_ms(4000); } // Stage 4: Scan Position B printf("#1 P750 #2 P800 T3000\n\r"); delay_ms(4000); printf("#0 P1475 T3000\n\r"); delay_ms(4000); sensor = input_a ( ) ; /* Input byte from PORTA */ if(sensor == 0) { // Stage 5: Grip Object B printf("#1 P1000 #2 P1050 T3000\n\r"); delay_ms(4000); printf("#4 P1100 T3000\n\r"); delay_ms(4000); printf("#3 P1000 #2 P1100 T3000\n\r"); delay_ms(4000); printf("#1 P600 #2 P700 T3000\n\r"); delay_ms(4000); printf("#0 P1450 T3000\n\r"); delay_ms(4000); printf("#1 P700 #2 P600 T3000\n\r"); delay_ms(4000); printf("#3 P1350 T3000\n\r"); delay_ms(4000); printf("#4 P1500 T3000\n\r"); delay_ms(4000); } // Stage 6: Clear for Position C printf("#1 P600 #2 P700 T3000\n\r"); delay_ms(4000); printf("#0 P1700 T3000\n\r"); delay_ms(4000); // Stage 7: Scan Position C printf("#1 P1000 #2 P850 T3000\n\r"); delay_ms(4000); sensor = input_a ( ) ; /* Input byte from PORTA */ if(sensor == 0) { // Stage 8: Grip Object C printf("#1 P1175 #2 P1000 T3000\n\r"); delay_ms(4000); printf("#4 P1100 T3000\n\r"); delay_ms(4000); printf("#3 P1000 #2 P1100 T3000\n\r"); delay_ms(4000); printf("#1 P600 #2 P700 T3000\n\r"); delay_ms(4000); printf("#0 P1450 T3000\n\r"); delay_ms(4000); printf("#1 P700 #2 P600 T3000\n\r"); delay_ms(4000); printf("#3 P1350 T3000\n\r"); delay_ms(4000); printf("#4 P1500 T3000\n\r"); delay_ms(4000); } // Stage 9: Clear for Original Position printf("#1 P600 #2 P700 T3000\n\r"); delay_ms(4000); printf("#0 P1000 T3000\n\r"); delay_ms(4000); } } ... mill out precise fittings in the femur for hip replacement Figure 3: ROBOTDOC Research motivation Because the advantage is that robot-assisted surgery gives the surgeon better control over the... screen is displayed below: Figure 14: TOROBOT RIOS interface 4.2 TTY The functionality of the code (to be compiled in C) was tested using TTY, which is essentially a text-based programmer, used directly... This could also make patients feel less worried before surgery Finally, we want the life become better, especially for people health Objectives The purpose of the project is to design a robotic