Figure 3 -3: Movement of arm approaching the table
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The research concerns human-industrial robot collaboration (HIRC) in manufacturing industry. Although this concept is very promising in terms of productivity and profitability, industrial practitioners currently have many apprehensions regarding its applicability in an industrial context, especially due to human safety considerations. In order to address this, several simulation- based methodologies have been presented in the literature to evaluate HIRC workstation design characteristics. Figure-2: Free body diagram of a body lifted by robotic arm Figure-4: Robic arm feeding the material on conveyor system Figure-5: Acrylic board assembly > Assembling the plain Acrylic Board together. The structure forms the base for DC motors. > Attaching the DC motors in their respective positions. The system has to be connected with the respective circuit connections that are to be given to the microcontroller, motors and motor driver respectively. Figure7: Circuit diagram of servomotors and microcontroller ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538 Volume I1 Issue X Oct 2023- Available at www.ijraset.com > Giving the circuit connections to the robot: Figure-.9: Circuit connections of the prototype Figure-8: Circuit diagram of DC motors and microcontroller Figure-10: Gripper as an end effector The NodeMCU ESP 8266 12 E chipset used in the physical prototype has been programmed using the Arduino IDE. Finalizing the assembly and checking the working conditions: Figure-12: Final assembly of the robotic system prototype A. Prototype Results Figure-13: Simulation of the pick-and-place process Mapping of the trajectory path has been done to get the suitable results for the required application of picking and placing o packages. The pick-and-place process is continued making use of the UR10 robotic arm, replicating real-life conditions.
