Jekyll2020-08-06T14:15:54+00:00https://sanketkundu.github.io/feed.xmlSanket KunduSanket Kundu is a Electronics Engineer passionate about Embedded Systems and RoboticsSanket KunduCyborg(Wireless Pick and place bot)2020-03-31T11:00:11+00:002020-03-31T11:00:11+00:00https://sanketkundu.github.io/blog/cyborg-wireless-pick-and-place-bot<p>Hello!This is my 3rd project,related to robotics(using arduino).Done shortly after humanoid robotic arm.
The last internship provided us knowledge to built a gripper for our own use,the application here was however different.
Last project was immobile ,so we(me and my team mate) decided to apply on movable bot with wireless controls at our hand.
This took 1 month time.</p>
<p>The planning was made about the working design and the equipment needed.
The plan was divide into 2 parts.
1.Testing the compatibility of motors,remotes,microcontroller for this project.(to avoid the problem of building the whole thing and jumping at testing)
2.assembly and testing as whole.</p>
<p>The block diagram of the whole project was simple.
Fig:block diagram:</p>
<p><img src="/assets/img/posts/block-diagram.jpg" alt="block diagram" title="block diagram" class="img-fluid" /></p>
<p>The components were brought in terms:
1.Fig:4 DC motors:</p>
<p><img src="/assets/img/posts/4dc-motors.jpg" alt="4 dc motors" title="4 dc motors" class="img-fluid" /></p>
<p>2.Fig: Chasis:</p>
<p><img src="/assets/img/posts/chais.jpg" alt="chasis" title="chasis" class="img-fluid" /></p>
<p>3.Fig: Arduino mega:</p>
<p><img src="/assets/img/posts/arduino-mega.jpg" alt="Arduino mega" title="Arduino mega" class="img-fluid" /></p>
<p>4.Fig: Wireless remote:</p>
<p><img src="/assets/img/posts/remote.jfif" alt=" Wireless remote" title=" Wireless remote" class="img-fluid" /></p>
<p>5.Fig:Cables:</p>
<p><img src="/assets/img/posts/cables.jfif" alt="cables" title="cables" class="img-fluid" /></p>
<p>6.Fig: 2 motor drivers(ln298N):</p>
<p><img src="/assets/img/posts/l298n.jpg" alt="l298n" title="l298n" class="img-fluid" /></p>
<p>7.Fig:Bread board:</p>
<p><img src="/assets/img/posts/breadboard.jpg" alt="breadboard" title="breadboard" class="img-fluid" /></p>
<p>8.Fig:Lead acid battery(12V):</p>
<p><img src="/assets/img/posts/bat.jpg" alt="leadacid " title="leadacid" class="img-fluid" /></p>
<p>9.Fig:Aluminium frame:</p>
<p><img src="/assets/img/posts/webp.net-resizeimage-1-.jpg" alt="aluminium" title="aluminium" class="img-fluid" /></p>
<p>10.Fig:4 wheels:</p>
<p><img src="/assets/img/posts/wheels.jpg" alt="4 wheels" title="4 wheels" class="img-fluid" /></p>
<ol>
<li>Fig:gripper mechanism:</li>
</ol>
<p><img src="/assets/img/posts/grip.jpg" alt="gripper" title="gripper" class="img-fluid" /></p>
<p>With the help of arduino Ide the capability of 1 motor driver was tested using arduino nano.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/_IHGFBZqqDA?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>So it was clear that with enough power supply 2 motors can be handled by 1 motor driver.</p>
<p>Soon I started working on remote control,since that was the essential part of the whole project
The remote used in testing was of my own(later we switched to new one).It communicated with the arduino using <a href="https://learn.sparkfun.com/tutorials/connecting-arduino-to-processing/all#shaking-hands-part-1">processing</a>.
The controls of the remote was assigned with the help of open source<a href="https://github.com/madsci1016/Arduino-PS2X"> library</a> of ps controller.</p>
<p>it looked somewhat like this:</p>
<p>fig: interface:</p>
<p><img src="/assets/img/posts/controller-configuration.jpeg" alt="controller config" title="controller config" class="img-fluid" /></p>
<p>i refered alot of websites to understand the code and made changes to them according to my remote.
Later we switched to the project remote and made changes with respect to that
We followed <a href="https://create.arduino.cc/projecthub/electropeak/how-to-interface-ps2-wireless-controller-w-arduino-a0a813">this</a>.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/SHIadfyKoNc?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>Changes in the codes were made for the 4 motors to run on the commands from the buttons in the remote.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/R65iKdqmpW0?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>The gripper was assembled in aluminium frame(we chose because it was light weight and strong enough to lift the load).</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/dUHcaW6d7wk?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>The remote control was switched to ps2 remote and testing of 2 motors was done with that.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/i-iZ11XMtY8?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>It took few days to assemble everything properly with lot of test and failures.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/Pdzf2LAYW0w?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>With all components the test run was made in small area,few errors were discovered in the program and as well as design,which were solved in further trials.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/LvdvFGiKxSY?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>This is the final run we had with all the components installed and working.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/vXyIbaD5Q_8?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>Sanket KunduHello!This is my 3rd project,related to robotics(using arduino).Done shortly after humanoid robotic arm. The last internship provided us knowledge to built a gripper for our own use,the application here was however different. Last project was immobile ,so we(me and my team mate) decided to apply on movable bot with wireless controls at our hand. This took 1 month time.Humanoid Robotic arm2020-03-14T06:40:18+00:002020-03-14T06:40:18+00:00https://sanketkundu.github.io/blog/humanoid-robotic-arm<p>Hello! My next creation(more likely training) was <strong>Humanoid Robotic Arm</strong>!</p>
<p>This project was done as an internship at Li2 pvt ltd during the period of 10th January to 10th February.</p>
<p>Li2 pvt ltd gave an opportunity to show case our skills in arduino as well as manupulation of softwares for the need of the project,the supportive staff and environment always encouraged me.</p>
<p>The Project was done and made possible with help of my friend.So I will share maximum I can about the project which we did as an intern.</p>
<p><strong>1st week</strong>:
We started with gathering details,checking the inventory according to BOM given in the website of <a href="https://www.bcn3d.com/bcn3d-moveo-the-future-of-learning/#">BCN3D</a> .
It is fully open source 3D printed robotic arm.</p>
<p>The project had some changes according to our level of knowledge,hence it was decided to be moved in only 2 directions z axis and y axis.</p>
<p>For reference I made an approximate drawing for the location of the motors and its appearance</p>
<p>Fig: drawing :</p>
<p><img src="/assets/img/posts/diagram1.jpg" alt="diagram" title="diagram" class="img-fluid" /></p>
<p>These are some of the main components we used:(more are given in BOM (<a href="https://drive.google.com/file/d/14LHNKQbmhss2dg5fZe8fYuVJrBUtA915/view?usp=sharing">pdf</a>))</p>
<p>Fig: arduino mega:</p>
<p><img src="/assets/img/posts/arduinomega.jpg" alt="arduinomega" title="arduinomega" class="img-fluid" /></p>
<p>Fig:Stepper Motor SM42HT47(nema 17):</p>
<p><img src="/assets/img/posts/17nema.jpg" alt="nema17" title="nema17" class="img-fluid" /></p>
<p>Fig: Nema23:</p>
<p><img src="/assets/img/posts/nema23.jpg" alt="nema 23" title="nema23" class="img-fluid" /></p>
<p>Fig: Stepper motor driver (tb6560):</p>
<p><img src="/assets/img/posts/tb65601.jpg" alt="tb6560" title="tb6560" class="img-fluid" /></p>
<p>Fig: Gear Ratio 51 Planetary Gearbox Nema 17 Stepper:</p>
<p><img src="/assets/img/posts/gear-ratio-51-planetary-gearbox-nema-17-stepper.jfif" alt="Gear Ratio 51 Planetary Gearbox Nema 17 Stepper" title="Gear Ratio 51 Planetary Gearbox Nema 17 Stepper" class="img-fluid" /></p>
<p>Fig: Servo:</p>
<p><img src="/assets/img/posts/servo-motor.jpg" alt="Servo" title="Servo" class="img-fluid" /></p>
<p>Fig:Power supply 24V:</p>
<p><img src="/assets/img/posts/powersupply.jpg" alt="24v power supply" title="24v power supply" class="img-fluid" /></p>
<p>Fig:Jumper wires:</p>
<p><img src="/assets/img/posts/cables.jfif" alt="Jumper wires" title="Jumper wires" class="img-fluid" /></p>
<p><strong>2nd week</strong>:
We started learning 3D printing from the incharge ,have a look what it looked like!!</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/Bhml2e7C60I?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>The gripper parts after 3D printing.
Fig: 3D printed gripper parts:</p>
<p><img src="/assets/img/posts/3dprintedgripper.jpg" alt="printedparts" title="printedparts" class="img-fluid" /></p>
<p>The base and middle part
Fig: Base and Mid part:</p>
<p><img src="/assets/img/posts/midpart.jpg" alt="basemid" title="basemid" class="img-fluid" /></p>
<p>It took almost took 2 weeks just to gather the things because of delay in delivery and availability of the components in the market,we had to go market about 5 or 6 times,just because of unavailability and sometimes because of our mistakes.</p>
<p><strong>3rd week</strong>:
We started assembly after completion and ongoing printing of some parts
Here is the logic diagram
Fig: Logic:</p>
<p><img src="/assets/img/posts/logic.jpg" alt="logic" title="logic" class="img-fluid" /></p>
<p>The base was assemble first without motors,as it was important to check whether the parts fit according to the requirements.
Fig: Assembly1:</p>
<p><img src="/assets/img/posts/assembly1.jpg" alt="assembly1" title="assembly1" class="img-fluid" /></p>
<p>Since the top were still being printed (
each print took 6-7 hours) , the assembly of the gripper was done</p>
<p>Fig: Gripper:</p>
<p><img src="/assets/img/posts/gripper1.jpg" alt="gripper" title="gripper" class="img-fluid" /></p>
<p>After printing all the parts we started testing the motors arrived according to the specifications.
We assembled all the motors with the parts,it was time taking task as the parts had to be opened again and each screw had its importance (we had to search many times as they used to roll away).</p>
<p>After assembly it looked like this
Fig: Assembly 2:</p>
<p><img src="/assets/img/posts/assembly21.jpg" alt="assembly 2" title="assembly 2" class="img-fluid" /></p>
<p>Still we had to check whether the motors work under the load of the bolts
We started with the upper body and voila!!
We encountered our 1st problem!!</p>
<p>The upper motor wasn’t responding properly:</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/66UEDwFwmCo?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>It took 2 days to rectify it</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/XTS9jxpSqSc?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>The only way to know other motors worked was to test after assembly of everything .The model was assembled without second thought about the base and we ended up having no base to keep the structure.The platform was searched and it was decided that the whole assembly had to be bolted down to a platform(we had to unscrew everything again!!!)</p>
<p>Fig :Before assembly:</p>
<p><img src="/assets/img/posts/beforeformation1.jpg" alt="before assembly" title="before assembly" class="img-fluid" /></p>
<p>After we assembled:</p>
<p>Fig:Formation side view:</p>
<p><img src="/assets/img/posts/formationsideview1.jpg" alt="sideview" title="sideview" class="img-fluid" /></p>
<p>Fig:Formation:</p>
<p><img src="/assets/img/posts/formation1.jpg" alt="formation" title="formation" class="img-fluid" /></p>
<p><strong>4th week</strong>:</p>
<p>After the assembly was bolted and assembled properly(finally!!!) ,the first test was run.
and guess what?it was complete failure.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/1j0MBw1Di8U?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>To know the cause, we dismantled it</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/ZgJZGAjicaQ?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>We arrived at our 2nd problem.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/P8kmNxAdZOA?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>The problem was still persisted after few attempts,but after testing so many times we got little bit information about the error.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/AGgInzR-ozE?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>It took few more attempts to understand the proper problem</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/01uu97VMBLo?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>It took 1 or 2 days and many attempts to rectify it.</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/_gCgqmMDu0I?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>This is the working model we recorded .</p>
<iframe width="560" height="315" src="https://www.youtube.com/embed/_FPGHSQDmDg?rel=0&controls=0&showinfo=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen=""></iframe>
<p>Benefits I recieved from this project:
1.An entirely new experience
2.Team membership.
3.Knowledge of the Market cost of NEMA motors.
4.Operations performed by CNC machines.
5.How stepper motor works.
6.Knowledge of 3D printing,cost and designing.
7.Time management.
8.Knowledge of autodesk inventor to model different things.</p>
<p>A special thanks to my partner ,Harsh Biradar and Li2 pvt ltd. who gave me assistance in every turn.</p>Sanket KunduHello! My next creation(more likely training) was Humanoid Robotic Arm!My First Project- Making of Wattmeter2019-05-22T09:05:23+00:002019-05-22T09:05:23+00:00https://sanketkundu.github.io/blog/my-first-project-making-of-wattmeter<p>Hey guys!! Since this was my first project I tried to make my project as simple as possible for my sake.But for me since I was new to this field I made many mistake and learnt a lot from them.If you want to try to make this project please visit this link</p>
<p><a href="https://circuitdigest.com/microcontroller-projects/arduino-wattmeter-to-measure-voltage-current-power-consumption" title="https://circuitdigest.com/microcontroller-projects/arduino-wattmeter-to-measure-voltage-current-power-consumption">https://circuitdigest.com/microcontroller-projects/arduino-wattmeter-to-measure-voltage-current-power-consumption</a> as it contains the stepwise procedure.But I am going to tell you the errors you will make if you blindly copy the website and try to make it on your own!!.If you are familiar with Arduino no issue at all. But if this is your first time using it I would suggest you to go through some LED tutorials ,as they are easy to understand as well as they give u a rough idea about arduino. Okay..since the website i have given will give you all the details of making this project I won’t waste my further time on instructing how to make.</p>
<p><strong>Lets begin :-</strong></p>
<p><strong>DAY 1: Planning!!</strong></p>
<p>Guys this might sound stupid but yes! you have to plan your project even if you know the procedure ,my suggestion is that if you have any friend who is interested in this type of project…collaborate with him share your ideas,think where you can use this project,plan your expenses,make a time schedule and follow that</p>
<p><strong>MISTAKE I DID:-</strong> In my case i was alone,nobody helped me ..so i had to struggle a lot for getting ideas,i spent a lot of money on buying components,there was no time management at all!!</p>
<p><strong>DAY 2: Getting Components!!</strong></p>
<p>Don’t rush!! Write each and every component required and then buy it.If you got any market place for that stuff check it out there instead of searching online,Market usually have lower price than online.But if you are getting cheap no issue.Please make sure you know each and every component structure and additional components if required with them.</p>
<p><img src="/assets/img/posts/IMG_20190812_134319_0.jpg" alt="" class="img-fluid" /></p>
<p><strong>MISTAKE I DID:</strong>-I went market without writing anything ,thinking its there on the internet ,but unfortunately the shopkeeper won’t wait for you to see and tell each component,another thing was that we need 16 pins for your LCD screen(if you know please ignore) .These pins are not attached to LCD when you buy it ,you have to purchase it additionally and solder it on your LCD.I hope you know how to solder..if u don’t here’s a link <a href="https://youtu.be/E9NIN49iiCc" title="https://youtu.be/E9NIN49iiCc">https://youtu.be/E9NIN49iiCc</a> (i am not promoting them i am just helping you)</p>
<p><img src="/assets/img/posts/IMG_20190812_134423_2.jpg" alt="" class="img-fluid" /></p>
<p><strong>DAY 3: Making the Circuit!!</strong></p>
<p>Here comes the difficult part if you don’t know or never made a circuit before.Here major part lies in understanding the function of components how it works and why was it necessary to include it ,understand the logical circuit,connection and functionality.Its better to make the circuit only with the Arduino and LCD.It is because ,you just have bought this two and don’t even know whether they are working or not. connect the LCD with Arduino and run a simple hello world program to make sure that work properly.The LCD might give you some difficulty,check the soldering of the pins, the connections.</p>
<p><img src="/assets/img/posts/H6MNR.jpg" alt="" class="img-fluid" /></p>
<p><img src="https://www.arduino.cc/en/uploads/Tutorial/LCD_Base_bb_Schem.png" alt="Image result for lcd to arduino connection" class="img-fluid" /></p>
<p>this link will give you tutorial for LCD <a href="">https://www.arduino.cc/en/Tutorial/HelloWorld</a> run some other display programs to get familiar.</p>
<p><strong>MISTAKE I DID:</strong> Soldering had some issues,also the connection with the arduino was wrong.So everytime i used to run the code the backlight was ON but no output was shown,kindly check your connection if you are getting error .if it doesn’t match with the online symptoms then maybe you need to replace it.if you don’t get the output even on several attempts ,don’t loose hope,try some time later.</p>
<p><strong>DAY 4:Assembling everything!!!</strong></p>
<p>Now that you know that every component is functional ,move to assembly part,check each and every connection until you are satisfied.Don’t hesitate to disassemble it you will learn a lot about the connection.</p>
<p><img src="/assets/img/posts/IMG_20190418_210334_9.jpg" alt="" class="img-fluid" /></p>
<p><img src="/assets/img/posts/IMG-20190420-WA0003.jpeg" alt="" class="img-fluid" /></p>
<p><strong>DAY 5: Testing the circuit!!</strong></p>
<p>At last we are here..but wait this is not the end .We don’t know whether our circuit might work or not..the program is uploaded.But i have not given any load..wait the circuit doesn’t seem right!!! Something is not working!!! chill it happens everyone gets an error , if you don’t get what will you learn?? debug the code,understand where you went wrong,Do you need to change the code according to your needs?CHANGE IT!! don’t be afraid, you don’t have anything to lose (don’t worry your arduino won’t blast neither will your LCD they have current regulator inside them!!)check the connection of your assembly ,is it correct or you are just assuming it is correct ,dig deeper..if it still persists disassemble it and do it again.</p>
<iframe width="560" height="200" src="https://www.youtube.com/embed/IqE8eMy4LwI" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen=""></iframe>
<p>**MISTAKE I DID:**My connections were totally wrong and i was assuming it to be correct.I disassembled and assembled about 12 times ..this is the pic of 4th time..my power value was still wrong !! XD .But try and try until you succeed</p>
<p><img src="/assets/img/posts/IMG-20190512-WA0004.jpeg" alt="" class="img-fluid" /></p>
<p><strong>DAY 6: Finally i made it!!</strong></p>
<p>After discovering so many wrong ways i got the correct one .sorry guys i just have the pic of the reading not whole circuit.But if you are able to achieve its great!!</p>
<p><img src="/assets/img/posts/wattmeter.png" alt="" class="img-fluid" /></p>
<p><strong>Benefit i received from this project:</strong></p>
<ol>
<li>learnt about working of LCD in arduino</li>
<li>learning about opamp</li>
<li>learning transistor</li>
<li>Won my Project Based Learning competition with first prize of INR 3K(since my team project was not working ,i attached my circuit to the project and took it as load resistance.since mine worked fine.The judges got impressed with explanation and we won!!</li>
</ol>Sanket KunduHey guys!! Since this was my first project I tried to make my project as simple as possible for my sake.But for me since I was new to this field I made many mistake and learnt a lot from them.If you want to try to make this project please visit this link