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Vol. 188, Issue 5, May 2015, pp. 96-101




Design and Implementation of Mobile Robotic Manipulator for Welding Using PLC

Nitin TOM, Dinesh Kumar BADAM, Vijay Kumar SINGORE, Dr. Venkata Lakshmi Narayana K.

School of Electrical Engineering, VIT University, Vellore-632014, Tamil Nadu, India
Tel.: +91-9003126276, +91-8189980656, +91-9585621113

E-mail: nitintomy@gmail.com, dineshkumarbadam@gmail.com, vijay_singore@yahoo.com, kvlnarayana@vit.ac.in


Received: 2 May 2015 /Accepted: 27 May 2015 /Published: 29 May 2015

Digital Sensors and Sensor Sysstems


Abstract: Robotics is a rapidly growing field in the area of science and technology. With the growth of industrialization and automation one requires a better precision of work with improved productivity and less expenditure. It has reduced additional effort of production line though; it reduces man power and provides faster response as well as better precision of working. It has become the vital sector for all automobile industries specializing in the works considered to be difficult such as welding and assembly. In this work, we have been implemented a mobile robotic manipulator for welding using programmable logic controller (PLC). A manipulator with two links is designed to move in horizontal and vertical directions. The end effector is provided with ac supplied welding torch. The manipulator is made movable with the help of microcontroller based line follower. This paper gives the idea how efficiently welding can be done by synchronizing PLC and microcontroller. PLC is an added advantage to this work as almost all the industries are automated which thereby prevents the installation of new PLC for the proposed system. This manipulator along with sensors can be used to detect the cracks or damages in underground pipelines. It can also be used to weld the corroded furnace or bins in steel or cement plants.


Keywords: Robot manipulator, Kinematics, Programmable Logic Controller, Relays and Microcontroller, Line follower.


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