International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 12 Issue: 06 | Jun 2025
p-ISSN: 2395-0072
www.irjet.net
Design and development of robotic arm for handling of capsule bottles in pharmaceutical industry Ninad Navale, Shreyash Musmude, Revansidh Nagure, Parag Lad, Dr. S.V. Chaitanya Department of Mechanical Engineering, AISSMS College of Engineering, Kennedy Road, Near RTO, Pune – 411001, Maharashtra, India ---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - The increasing demand for automation in the
This project aims to design and develop a functional robotic arm with multiple degrees of freedom (DOF) capable of performing complex tasks like picking, placing, and manipulating objects. The robotic arm is a versatile tool that can be adapted for various purposes, including industrial automation, medical surgeries, and educational platforms for students studying robotics and control systems.
pharmaceutical industry has led to the development of specialized robotic systems aimed at improving efficiency, consistency, and hygiene. This project presents the design and development of a five-degree-of-freedom (5-DOF) robotic arm tailored for pick-and-place operations of capsule bottles. The primary objective is to automate repetitive, precision-based tasks in pharmaceutical packaging processes while adhering to hygiene and safety standards. The design process began with a comprehensive requirement analysis covering dimensions, weight, and handling constraints typical of capsule bottles. Based on workspace requirements and costefficiency, a 5-DOF configuration was selected to ensure sufficient reach and orientation control. The mechanical structure was developed using kinematic calculations and CAD modeling in CATIA, with materials chosen for lightweight strength. Servo motors were integrated with an Arduino Uno microcontroller and a custom control algorithm to enable smooth actuation. Components were 3D printed for rapid prototyping and assembled with high alignment accuracy. A specially designed gripper ensured gentle, contamination-free handling of bottles. The system was tested for accuracy, repeatability, cycle time, and load performance. A clear work envelope was identified, and unreachable zones were analyzed for future improvement. The final prototype successfully demonstrated reliable pick-and-place of 100g capsule bottles, validating the approach. This project offers a modular, costeffective solution for small-scale pharmaceutical automation, and serves as a scalable foundation for future robotic systems in regulated cleanroom environments.
The core motivation behind this project is the growing demand for automation solutions that reduce human effort, improve precision, and operate in environments where human presence is either unsafe or inefficient. By integrating mechanical design, electronics, and software, this project explores the development of an affordable and scalable robotic arm solution. The design and development of this robotic arm follow a systematic approach, beginning with a thorough analysis of the mechanical structure and movement mechanisms, followed by the selection of electronic components, programming, and testing. This report details the entire process, highlighting the challenges encountered and solutions implemented. A robotic arm for pick-and-place of capsule bottles is an automated electromechanical system designed to identify, grip, lift, transport, and place capsule containers from one location to another within a predefined workspace. It is developed to automate repetitive and labor-intensive tasks commonly found in pharmaceutical manufacturing and packaging lines. This robotic system consists of key components including mechanical joints (for motion), actuators (to drive the joints), an end-effector or gripper (custom-designed to hold capsule bottles), sensors (for object detection and feedback), and a microcontroller (to control the arm’s actions through programmed instructions).
Robotic Arm, 5-DOF, Pick and Place, Pharmaceutical Automation, Arduino Uno, Servo Motor, 3D Printing, CATIA
1) INTRODUCTION
The robot functions on the principles of robotic kinematics, dynamics, and control theory. The end-effector is designed to adapt to the size and shape of capsule bottles, ensuring secure handling without causing damage or contamination. The arm executes a programmed motion cycle that includes identifying the position of a bottle, reaching toward it, grasping it using a gripper, lifting it to a target height, and placing it accurately at the desired location. This process is repeatable and can be enhanced using vision systems and industrial automation protocols.
The rapid advancement of technology in the field of robotics has opened new frontiers for automation, enabling machines to perform tasks with precision, consistency, and speed. Among various robotic applications, robotic arms play a critical role in industries such as manufacturing, healthcare, and research. These arms can be programmed to replicate human motions, offering efficiency in repetitive tasks, increased accuracy in delicate operations, and enhanced safety in hazardous environments.
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