Đồ án tốt nghiệp - Deploying delta robot to a product classifying and sorting system AIPGPOAACET

MINISTRY OF EDUCATION &amp TRAINING
HO CHI MINH UNIVERSITY OF TECHNOLOFY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING

GRADUATION PROJECT
Major: Automation and Control Engineering Technology

DEPLOYING DELTA ROBOT TO A PRODUCT
CLASSIFYING AND SORTING SYSTEM APPLYING
IMAGE PROCESSING

Advisor:

TRAN MANH SON, Ph.D

Students:

PHAM THANH HIEP

19151056

PHAN THIEN BAO

19151071

Ho Chi Minh City, June 2023

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness
-Ho Chi Minh City, June 30, 2023

GRADUATION PROJECT TASKS
Full name of student 1: PHAM THANH HIEP

Student ID: 19151056

Full name of student 2: PHAN THIEN BAO

Student ID: 19151071

Major: Automation and Control Engineering Technology
Forms of training: Formal training
Class of: 2019 – 2023
Class: 19151CLA3
I. THESIS NAME: DEPLOYING DELTA ROBOT TO A PRODUCT CLASSIFYING
AND SORTING SYSTEM APPLYING IMAGE PROCESSING
II. TASKS
1. Original documents:
- Documentation about PLC controller, Arduino
- Documentation on image processing and libraries in Python
- Documentation of Delta robot model
- Documentation of servo motor and driver
2. Content of implementation:
- Learn the theoretical basis and connect the electrical part
- Improved Delta robot hardware
- Write an image processing program to detect color and rotation angle
- Write a program to control Delta robot
- Finalize hardware and verify the model
- Test run many times, edit the system
- Comments and conclusions
III. DATE OF DELIVERY: 02/2023
IV. TASK COMPLETE DATE: 07/2023
V. INSTRUCTORS FULLNAME: MR. TRAN MANH SON

INSTRUCTORS
(Sign and write full name)

AUTOMATIC CONTROL
DEPARTMENT
(Signed &amp stamped)

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness
-Ho Chi Minh City, June 30, 2023

SCHEDULE OF IMPLEMENTATION OF THE GRADUATION
THESIS PROJECT
Full name of student 1: PHAM THANH HIEP

Student ID: 19151056

Full name of student 2: PHAN THIEN BAO

Student ID: 19151071

Thesis name: DEPLOYING DELTA ROBOT TO A PRODUCT CLASSIFYING AND
SORTING SYSTEM APPLYING IMAGE PROCESSING
Week/date

Instructor
confirm

Content

1

Register for project topics

2

Contact to exchange instructor

3

Instructor assigns topics

4

Learn about Delta robots, come up with ideas to
improve hardware

5

Design, improve hardware

6

Learn image processing theory, Delta robot model

7

Write an image processing program to recognize
colors and angles

8

Write a program to control Delta robot

9, 10

Write a p
...

...
ng by color and size.

-

The robot arm system is relatively stable and very solid, no longer shaking.

5.1.2 Limitations of the Topic
With a relatively short project implementation time, after the system was completed,
the group also found several shortcomings that could not be overcome as follows:
-

Picking and ping objects have not reached absolute accuracy

-

The devices that are reused suffer from a lot of other hardware problems, so it takes
a lot of time just to find and replace similar devices, and products with relatively
high prices.

-

The fourth joint is inefficient due to many hardware influences.

-

The camera works best in normal lighting conditions, when conditions are not
satisfactory, there are errors because of reduced accuracy.

-

5.2

There is no manual mode yet

Development
With the potential of this topic, the system still has many development directions that

can be achieved in the future, such as:
-

Positions that do not change should be properly calibrated to avoid deviations.

72

-

The conveyor should maintain the speed to determine the exact position, as well as
calculate and accurately measure the position of the deviation from the robot axis to
the camera axis position, to achieve the most accuracy.

-

At the fourth joint , it is recommended to use a motor with a gearbox to combat the
rotational deviation processes affected by external factors.

-

Adding manual mode to deploy given locations, to simulate ution.

73

REFERENCES
[1]

The Delta Parallel Robot: Kinematics Solutions Robert L. Williams II, Ph.D.,
Mechanical Engineering, Ohio University, October (2016)

[2]

https://www.marginallyclever.com/other/samples/fk-ik-test.html

[3]

Hoai Nam LE and Xuan Hoang LE, Geometrical design of a RUU type Delta
robotbased on the predescribed Workspace, 4th International Conference on
Green Technology and Sustainable Development (GTSD), HCMUTE (2018)

[4]

Robot công nghiệp, PGS.TS Nguyễn Trường Thịnh, Đại học SPKT Tp. HCM.

[5]

https://plcmitsubishi.com.

[6]

https://thanhphan.vn/so-do-ket-noi-servo-mitsubishi-mr-j2s-10a.

[7]

https://biquyetxaynha.com/huong-dan-cai-dat-driver-servo-mitsubishi.

[8]

https://blog.paperspace.com/yolov7.

[9]

Train YOLOv7, nhận diện YOLOv7 bằng GPU của Colab,
https://www.youtube.com/watch?v=TJ4o5QB7Wqg

[10]

Giao tiếp Python với PLC (FX-5UJ) Mitsubitshi || Communicating Python with
PLC (FX-5UJ) Mitsubitshi, https://www.youtube.com/watch?v=Ubd3ImXOrYc

74