design and fabrication of an autonomous obstacle avoider line tracer robot with industrial gripper

7/28/2019 Design and Fabrication of an Autonomous obstacle avoider line tracer robot with industrial Gripper

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Design and Fabrication of an Autonomous obstacle avoider line tracer

robot with industrial Gripper

This report is submitted to the department of Mechanical Engineering, CUET for partial

fulfillment of the requirement for the award of the degree of

Bachelor of Science

In

Mechanical Engineering

Prepared and submitted By

Sunzida Chowdhury

Student ID: 0803008

Under the supervision of

Dr. S.M. Humayun Kabir

Assistant Professor

Department of Mechanical EngineeringChittagong University of Engineering and Technology

Bangladesh

Department of Mechanical Engineering

CHITTAGONG UNIVERSITY OF ENGINEERING AND TECHNOLOGY

CUET


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Abstract

An autonomous line tracker robot runs by detecting two different colors. Using optical

sensors it detects those colors and changes its position according to the sensor data

provided. It is a differential drive Car robot. It can turn a semi elliptical path, S typed

turn, 90 degree turn, 180 degree turn and straight running. If it faces a 30 degree elevated

bridge on its way then it can climb on it and drive down from it autonomously. If it faces

any obstacles on its way of running it will stop or find other ways out, instead of being

getting obstructed with it. If it gets itself at the edge of its way then it will turn 180 degree

angle by differential driving and prepare to get homing back.

It will be consisted with an industrial gripper which will be able to grip and displace

objects of definite sizes and shapes. A meccano gripper mechanism will be applied to

complete this task.

These kinds of robots are widely used in industrial purpose. It drives itself to a fixed

way in the industry and for being obstacle avoiding characterized it doesnt harm any

human being or industrial objects by its nature. By gripping and depositing objects to

specific places it doesnt get tired or bored, thus it is a perfect choice as an industrial robot

which consumes time, energy and increases production at a specified time period.


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ACKNOWLEDGEMENT

I am grateful to my honorable project supervisorDR.S.M HUMAYUN KABIRAssistant

Professor, Department of Mechanical engineering, CUET for his cordial guideless and

instruction in doing the project.

I would like to extend my thanks to all the faculty members and stuff members of the

Mechanical Engineering Department of CUET for helping me in doing this project.

December 2012 Author

CUET, Chittagong


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CONTENTS

Abstract II

Acknowledgement III

Chapter 1: Introduction 6

1.1 Introduction 6

1.2Objectives 61.3Importance of this study 71.4Uses 7

Chapter 2: Literature Review 8

2.1 Robots Characteristics 8

2.2Laws of Robotics 9

Chapter 3: Methodology 10

3.1 Introduce 10

3.2 Methodology 10

3.3 Flow Chart 11

Chapter 4: Design and components 12

4.1 Mechanical Components 12

4.2 Electrical Components 12

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Chapter 5: Result and discussion 16

Chapter 6: Conclusion 17

References 18


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Table of Figure

FIGURE 4.1 Chassis ...................................................................................................... 13

FIGURE 4.2 Wheel ........................................................................................................ 13

FIGURE 4.3 Gripper ...................................................................................................... 13

FIGURE 4.4 Typical DC Gear Head Motor .................................................................. 14

FIGURE 4.5 Typical Servo Motor ............................................................................... 14

FIGURE 4.6 ATMEGA32A Microcontroller .............................................................. 15

FIGURE 4.7 ATMEGA32A Microcontroller Pin Configuration ................................ 15


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Chapter 1

Introduction

1.1 Introduction

A robot is a virtual or mechanical artificial agent. In practice, it is usually an electro-mechanical system which, by its appearance or movements, conveys a sense that it hasintent or agency of its own. The word robot can refer to both physical robots and virtualsoftware agents, but the latter are usually referred to as bots. There is no consensus onwhich machines qualify as robots, but there is general agreement among experts and the

public that robots tend to do some or all of the following: move around, operate amechanical limb, sense and manipulate their environment, and exhibit intelligent behavior,especially behavior which mimics humans or other animals. [1]

Autonomous robots are robots that can perform desired tasks in unstructured

environments without continuous human guidance. Many kinds of robots have some

degree of autonomy. Different robots can be autonomous in different ways. A high degree

of autonomy is particularly desirable in fields such as space exploration, cleaning floors,

mowing lawns, and waste water treatment. [5]

We will go for designing and fabricating an autonomous obstacle avoider line tracker

robot with industrial gripper which will track two colors and grip any definite shape ofobject.

1.2 Objective

It will be a autonomous obstacle avoider robot. It will track two colors so that it will be a line tracker robot. It will able to grip any definite shape of object by a meccno gripper.


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1.3 Importance of this study

Robots reduce the human effort and increase the productivity. It consumes time and

gives more efficient performance because it never gets tired or exhausted. It gives clarityin the work.

Because of robots efficiency and consistency wastage in production decreases over the

time therefore it maximize the profit level, for this reason big industries are more

interested in Robots now a day.

1.4 Uses







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Chapter 2

Literature review

2.1 Robots CharacteristicsWhile there is no single correct definition of "Robot", a typical robot will have

several or possibly all of the following properties. [4]

It is artificially created. It can sense its environment, and manipulate or interact with things in it. It has some ability to make choices based on the environment, often

using automatic control or a preprogrammed sequence.

It is programmable. It moves with one or more axes of rotation or translation. It makes dexterous coordinated movements. It moves without direct human intervention. It appears to have intent or agency.

The last property, the appearance of agency, is important when people are consideringwhether to call a machine a robot, or just a machine

For robotic engineers, the physical appearance of a machine is less important than the wayits actions are controlled. The more the control system seems to have agency of its own,the more likely the machine is to be called a robot. An important feature of agency is theability to make choices. [4]

A clockwork machine is never considered a robot. A remotely operated vehicle is sometimes considered a robot (or telerobot).

The manual machine manufactured could also be called as telerobot.

A machine with an onboard computer, which could drive in aprogrammable sequence, might be called a robot.

A self-controlled machine which could sense its environment and makedriving decisions based on this information would quite likely be called arobot.

A sentient machine which can make decisions, navigate freely and conversefluently with a human is usually considered a robot.


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2.2Laws of RoboticsOver the years man has dreamed a machine similar to human beings. Many stories,

dramas, science fictions has been written and read. Among them Isaac Asimov has gone

so far that he addressed for three rules for a machine to be named as robot. Three Laws ofRobotics are a set of three rules which are as follows:

o A robot may not injure a human being or, through inaction, allow a humanbeing to come to harm.

o A robot must obey orders given to it by human beings, except where such orderswould conflict with the First Law.

o A robot must protect its own existence as long as such protection does notconflict with the First or Second Law.

Although all the characteristics and rules mentioned above doesnt comply with the

robots manufactured there are significant characteristics and developed AI (artificialintelligence) which could lead to call those as robots. [5]

The application-driven researches on autonomous robotic search having been paid

continuous attentions for years, since robot(s) be capable of searching for target(s) taking

the place of human beings in dangerous environment for secondary disaster avoidance.

Thus the state of the art of this field was surveyed from the viewpoint of robotics,

distributed sensor networks and intelligent control. First, a classification was proposed

according to a metric of relative number relationship between robots and targets. Then the

literature dealing with three modes, i.e., single-robot-single-target, multiple(swarm)-robot-

single-target, and multiple(swarm)-robot multiple-target was taken for review.

Accordingly, the natural scientific issues concerned with each mode, control techniques,

as well as typical applications were summarized respectively. Also, the technical

characteristics of the existing approaches were comparatively analyzed for disaster search-

and-rescue application. Finally, swarm intelligence-based cooperative control method for

autonomous robotic search was examined significantly on demand of distributed artificial

intelligent decision making technique, in order to give more exposure to the latest ideas

around fields of wireless sensor network and intelligent robotics for promoting the level of

disaster prevention and reduction with robotic technology. [6],[7],[8], [9]


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Chapter 3

Methodology

3.1 Introduce

It is a multi tasking robot runs by detecting two different color using optical sensors

and it detects those colors and changes its position according the sensor data provided. It is

a differential Car Robot.

It can turn a semi elliptical path, S typed turn, 90 degree turn, 180 degree turn and

straight running. If it faces a 30 degree elevated bridge on its way then it can climb on it

and drive down from it autonomously. If it faces any obstacles on its way of running it

will stop or find other ways out, instead of being getting obstructed with it. If it gets itselfat the edge of its way then it will turn 180 degree angle by differential driving and prepare

to get homing back.

3.2 Methodology

1. At first we will make our structure, for making structure we have to design thechassis and chain wheel respectively.

2. Then we will make meccano gripper for gripping object.3. After making those several parts we will assemble the parts.4. After structural process we will go for circuit design in PCV board.5. Motor selection will be done by selecting DC gear head motor for chain wheel and

Servo motor for meccano gripper and then motor controller L293 will be selected

for motor controlling.

6. We will use AVR programming language at AVR studio compiler.7. After doing all these process sequentially, tuning will be done for output.


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3.3 Flow chart

Chassis Designing

Chain Wheel Designing

Making Meccano gripper

Parts Assembling

PCV Circuit Designing

Motor Selection and controlling

Programming

Tuning


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Chapter 4

Design and components

4.1 Mechanical components

o Wheelso Meccano Grippero

Spur Gearso Acrylic Sheeto Aluminum Baro C-Clamp

4.2 Electrical Components

o ATMEGA32Ao Variable Registero L298 Motor Controllero Rectifier Diodeo LM324o Capacitoro 7805 ICo

IR

o Resistanceso DC gear head motors, Servo motor


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Our desired chassis, wheel and gripper design are shown below.

Figure 4.1 Chassis

Figure 4.2 Wheel

Figure 4.3 Gripper


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All the desired typical motors and microcontroller are shown below which will be usein our project.

Figure 4.4 Typical DC gear Head Motor

Figure 4.5 Typical Servo Motor


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Figure 4.6 ATMEGA32A Microcontroller[3]

ATMEGA32A microcontroller Pin configuration[3]


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Chapter 5

Result and discussion

The project still on processing therefore we could not provide our result and discussion.


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Chapter 6

Conclusion






We could make this robot in larger size but due to lack of financial support we have to

make miniature form of this model. But now a days industries are highly preferred fully

autonomous system. So we will use the prototype form of this autonomous robot in our

industries because this robot cannot harm human being.


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References

1. Gordon McComb Second Edition ,The Robot Builders Bonanza2. http://en.wiki.org3. ATMEGA32A Datasheet (futurlec.com).4. Hasnat jamil, S.G.M. Hossain and Muhammad Yakut ali ,Design and fabrication

of The robots for the ABU ROBOCON robot contest 2006 and A simple brake

dynamometer for motor testing.

5. Mazharul Islam, Mohammad Tanvir Rahman, Al Maqsudur Rashid, Md. WahidurRahman and Jewel das ,Development of Advanced Control System for

Autonomous Mobile Robots.

6. R. Jarvis and M. Marzouqi, "Efficient Robotic Search Strategies for FindingDisaster Victims," in 3rd International Conference on Autonomous Robots andAgents, Palmerston North, New Zealand, 2006.

7. K. Zafar, S. Qazi, and A. Baig, "Mine Detection and Route Planning in MilitaryWarfare using Multi Agent System," in 30th Annual International Computer

Software and Applications Conference, vol. 2. IEEE, 2006.

8. Y. Meng and K. Cao, "Multi-Robot Searching for a Target using Game Theory,"Robotics and Applications.

9. Marjovi, J. Nunes, L. Marques, and A. de Almeida, "Multi-robot exploration andfire searching," in IEEE/RSJ International Conference on Intelligent Robots and

Systems. IEEE, 2009.

10.Hayes, "Self-Organized Robotic System Design and Autonomous OdorLocalization," Ph.D. dissertation, California Institute of Technology, USA, 2002.


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design and fabrication of an autonomous obstacle avoider line tracer robot with industrial gripper

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