Design and aplication of a PLC controlled robotic arm for distinguishing objects by color

In this study, robot arm design and application which carry the objects to selected positions according to their color has been realized. For this purpose, PLC device, stepper motor and drivers, ball screw, conveyor belt, solenoid valves, vacuum apparatus and color sensors are used. In this study, the red and green colored objects moving on the band are transported by the stepper motor controlled worm shaft and classified into separate boxes according to their color. PLC is the industrial control device for the control of the robot arm. PLC was programmed with Tiaportal V.2.1 and Axis v1.0 version of the program was used for axis control. Tiaportal software is very useful for motion control of stepper motors and provides advanced command options. Designed robotic arm; the upward, downward, elongation and shortening of the arm is provided by pneumatic drive, the arm is rotated around itself and the forward and backward movement of the axis is provided by stepper motor drive. The working area of the robot arm is increased by the endless screw shaft used in this study..