amphibian 3
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Amphibian Robot
Haroon Khan, Shaikh Aquib , Asad Ali ,
Arif Shaikh.
3rd year diploma in electronics engineering.
Abdul Razzak Kalsekar olytechnic !an"el#[email protected]
Abstract
The Amphibian robot is a robot which can operate
on land as well as on water. The word amphibian
means a thing or creature which is capable to survive
on land as well as on water. The idea is to make a
four wheeled robotic vehicle with a water resistant
bod enclosing the electronic circuit! batter and
motors and hence! making the robot capable tooperate on water . "t can be operated using
#ireless communication .This paper will describe the
mechanical design! motors used and the concept of
the pro$ect .
$echanical %esign
The main ob$ective of this pro$ect is to make anamphibian robot! which can travel on land as well as
on water.The part where we need to build a robot that
can transverse on land is %uite eas. &ut as we need it
to float on water! we design the bot in such a wa thatit is slightl positive buoant. The robot's bod is
made of acrlic! as we need to make it positivel
buoant! so a light weight material like acrlic with (mm thickness! having densit of 1.1)g*cm+! is best.
,ach part of the robot has grooves in it! so that
each part fits in properl. This provides e-tra strength
to the robot. Acrlic parts are $oined together usingchloroform! which works as an
adhesive for acrlic .
&nderstanding the design
Terrestrial locomotion
The obot moves on land simpl with wheels. /our
wheels are attached at each corner of the robot. Two
wheels at each side move in same direction alwas.
The robot moves in front and back when each pair moves in same side. "t turns right when right pair
moves in back and left in front direction and vice
versa.Thus! the robot goes straight when all wheels
move in samedirection an also the same speed. "t turns when the wheels rotate in opposite direction
or both pairs don't have same speed.
'heels
The wheels are made of wood! having a diameter of
(1 cm. #heels of large radius are needed for better
ground clearance! so that bot can travel in roughterrain without damaging an of its parts. The wheels
have wooden blades. The help the robot to push
water effectivel.
(ocomotion on )ater surface
The robot can easil move on water surface with thehelp of propellers present at its back. To make the
robot advance on water surface we need to keep it
floating. Thus! the buoant force should be greater
than weight of the bod.
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Sealing
The biggest glitch faced in building this robot is
sealing it. ealing of a water bot at low cost is verdifficult and surel ver important. As and when the
water rises inside the robot! the fear of short
circuiting in the electrical circuit also rises. Thus!sealing is the most important bit of building this
robot.
/evikwik is put at the edges of the base from
the inside and then the edges are applied
with &ondtite. ilicon sealant is applied on
the edges from outside. The holes drilled for screwing the motor are
all filled with bondtite.
/or the central propeller's motor a separate
acrlic casing is made with two holes to take
out its wires. "t is also sealed using bondtite
and silicon sealant.
The boundaries of motor are sealed usingsilicon sealant from inside and outside. The shaft is sealed using 2ring and grease.
A rubber with hole in center! is put in each
screw! to prevent water from hole.
The edges of upper casing are sealed b
bondtite and so is the circumference of 345
pipe.
*lectronicsHigh torque motors
These motors are re%uired in the amphibian bot so
that it can successfull traverse rough terrains andreadil drift on water surface and also go underneath
water surface.
Three different tpes of igh Tor%ue 75 motors have
been usedin the robot8
+. or the )heels+--- rpm high torque motor
3,5"/"5AT"2
10003: 1(4 75 motors with :etal
;earbo- and :etal ;ears 1000 3: base motor
6mm 7ia shaft with :+ thread hole
;earbo- diameter +< mm.
:otor 7iameter ().= mm
>ength 6+ mm without shaft
haft length +0mm
1)0gm weight
6)kgcm tor%ue
oload current ? 600 mA! >oad current ?
upto +A:a-
. or the back propellers
3,5"/"5AT"2
10003: 1(4 75 motors with :etal
;earbo- and :etal ;ears 1000 3: base motor
6mm 7ia shaft with :+ thread hole
;earbo- diameter +< mm.
:otor 7iameter ().= mm
>ength 6+ mm without shaft
haft length +0mm
1)0gm weight
(kgcm tor%ue
oload current ? +00 mA! >oad current ?
upto 1.=A:a-
Relays
A rela is an electricall operated switch. The use
anelectromagnet to operate a switching mechanismmechanicall. elas are used where it is necessar
to control a circuit b a lowpowersignal with
complete electrical isolation between control and
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controlled circuits! or where several circuits must be
controlled b one signal. #e use a 7ouble 3ole
7ouble Throw737T ela in our circuit.
5ircuit smbol for 737T ela
o)er source
(ead acid battery
The batter is used to suppl power to all the motors present in the robot. "t has ma-imum voltage of 1+.=
volts. The robot can remain active! with all its motors
working! for about (0 to (= minutes.
'ireless communication
This circuit utiliBes the / module T-*- for
making a wireless remote! which could be used todrive an output from a distant place. / module! as
the name suggests! uses radio fre%uenc to send
signals.
The sstem allows one wa communication betweentwo nodes! namel! transmission and reception. The
/ module has been used in con$unction with a set of
four channel encoder*decoder "5s. ere T1(, C
T1(7 have been used as encoder and decoder respectivel. The encoder converts the parallel inputs
from the remote switches into serial set of signals.
These signals are seriall transferred through / to
the reception point. The decoder is used after the /receiver to decode the serial format and retrieve the
original signals as outputs.
/onclusion
This tpe of robot can be further modified and usedfor surveillance and in militar purpose because of its
abilit to travel in different surfaces and conditions.
"f this implementation is successful there are
possible modifications that can be made on this robot b installing different sensors and additional circuitr
References1 / based wireless remote b T obotics( obokits.co.in
+ ""T Kanpur pro$ect DAmphi bot
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