Đồ án tốt nghiệp - Pick and place medicine box with gantry robot

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND
EDUCATION
INTERNATIONAL FACULTY
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY

-⸙∆⸙-

GRADUATION THESIS REPORT
PICK AND PLACE MEDICINE BOX WITH
GANTRY ROBOT
INSTRUCTOR: Associate Professor PhD. NGO VAN
THUYEN
STUDENT 1:
HUYNH PHUOC BAO
STUDENT ID:
20151256
CLASS:
20151CLA3
STUDENT 2:
TRAN TIEN DAT
STUDENT ID:
20151266
CLASS:
20151CLA4

HO CHI MINH CITY, DAY MONTH, YEAR 2024

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND
EDUCATION
INTERNATIONAL FACULTY
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY

-⸙∆⸙-

GRADUATION THESIS REPORT
PICK AND PLACE MEDICINE BOX WITH
GANTRY ROBOT
INSTRUCTOR: Associate Professor PhD. NGO VAN
THUYEN
STUDENT 1:
HUYNH PHUOC BAO
STUDENT ID:
20151256
CLASS:
20151CLA3
STUDENT 2:
TRAN TIEN DAT
STUDENT ID:
20151266
CLASS:
20151CLA4

HO CHI MINH CITY, DAY MONTH, YEAR 2024

ACKNOWLEDGMENTS
The graduation thesis is a scientific research project of students, a requirement
for every student before graduating. Researching a new issue for students is a difficult
and daunting task. It is thanks to the guidance and assistance of the teachers that
students can carry out their topics.
First of all, we would like to express our gratitude to the esteemed teachers of
Ho Chi Minh City University of Technology and Education, especially the dedicated
lecturers of the Control and Automation Engineering Department of the High-Quality
Training Faculty, who have wholeheartedly conveyed knowledge to us during our 4
years of study at the university.
In particular, we would like to extend our sincere thanks to Associate Professor
Ngo Van Thuyen for his wholehearted support, creating conditions, and closely
supervising us while implementing and completing this thesis.
We would like to thank PROSST Co., Ltd, MEng.Luong Cong Trinh, Mr. Vu
Tuan Son, and the engineers at the company for their support during the project
implementation.
Finally, we would like to express our gratitude to the thesis reviewers and the
teachers on the defense committee who have taken the time to provide feedback and
assistance to us during the thesis defense process. We wish all the teachers good
health and success in their research and teaching activities.

i

ABSTRACT
Our team has designed a specialized gantry robot system for storing, dispensing,
and stocking medicines in healthcare facilities. This system is aimed at optimizing
pharmaceutical invento
...

...
. Conclusion &amp development directions

CHAPTER 6: CONCLUSION &amp DEVELOPMENT
DIRECTIONS
6.1. Conclusion
After designing the hardware, developing the PLC program, and creating the HMI
control interface, our team successfully built a robot with all basic functionalities:
picking up, releasing, gripping, and placing medications. Additionally, the team has
achieved the following results and evaluations:
-

In terms of hardware design, the team has completed the robot frame design
with suitable dimensions for medication transport. The robot has a robust
structure combined with powerful motors, enabling fast transportation and
high precision.

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Regarding the PLC program development, after several experiments, the team
observed that the robot performs its functions with negligible deviation. The
algorithm optimizes time calculations based on speed, acceleration, and
deceleration with high accuracy, ensuring fast movements and precise
stopping.

6.2. Development directions
To further optimize, stabilize, and enhance performance across various environmental
conditions, our team needs to:
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For larger-scale models, consider optimizing the movement time of the robot
for efficient loading and unloading within shorter durations to streamline
operations.

-

Integrate additional camera vision devices to facilitate product identification.

-

Adapt the end-of-arm tooling to accommodate a wider range of products.

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REFERENCES
[1] Driver EL8-EC400F at: https://www.leadshine.com/product-detail/EL8EC400F.html [Accessed 18 March 2024]
[2] Servo motor at: https://www.leadshine.com/product-detail/servomotor/servo/ELM1H-0400MA60E.html [Accessed 18 March 2024]
[3] PLC MC500 at https://www.leadshine.com/product-detail/MC508CS.html
[Accessed 18 March 2024]
[4] How to calculate lead screw pitch at: https://e-linearmotion.com/cach-tinh-buocvit-me [Accessed 25 March 2024]
[5] Principle of servo control at: https://tudonghoaatvn.com/nguyen-ly-dieu-khienservo-step/ [Accessed 27 March 2024]
[6] Interpolation formula at: https://noithattuephat.com/cong-thuc-noi-suy/
[Accessed 11 June 2024]
[7] CNC machine interpolation at: https://maycongcuatc.wixsite.com/atcmachinery/post/noi-suy-trong-may-cnc [Accessed 11 June 2024]
[8] Motor calculation at: https://www.orientalmotor.co.jp/ja/tech/calculation/sizingmotor06 [Accessed 12 June 2024]
[9] Trịnh Chất và Lê Văn Uyển (2002) Tính toán thiết kế hệ dẫn động cơ khí , Nhà
xuất bản Giáo dục Việt Nam.

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