A Model-Based Low-Cost Autonomous Pick-and-Place Cartesian Robot

Abstract

The pick-and-place project consists of the design and construction of a Cartesian robot with the objective of automating the object handling process in an industrial environment The robot is mounted on the shelf for an autonomous warehouse system for maximum integration and system adaptability. It uses a PLC-based control system, which coordinates the movements of the stepper motors and allows communication with other systems. The robot’s mechanical system consists of a Cartesian structure and a system of linear axes controlled by threaded rods. The electronic system includes NEMA 23 stepper motors, motor controllers, proximity sensors, and an operator interface through an HMI display. The control system, based on a Siemens PLC, is responsible for receiving the input signals from the sensors, processing the information, and sending the output signals to control the motors and other components of the robot. The main objective of the project is to improve efficiency and precision in the object handling process, reducing production times, and minimizing human error. It also seeks to integrate advanced technologies, such as artificial vision. The results of the project show a satisfactory operation of the pick and place robot, with high precision in the handling of objects and a significant improvement in the efficiency of the process. It also highlights the advantages of using a PLC-based control system and the integration with a warehouse management system, which allows greater planning and monitoring of handling tasks.