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Robocon 2014
Project Coordinators:Abhishek Sharma [11030]Dhrupal R Shah [11250]
Project Guide:Prof Bhaskar DasguptaHead, Mechatronics LabMechanical Engineering, IIT Kanpur
Indian Institute of Technology Kanpur
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Problem Statement: Robocon 2014
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Parent Robot: Objective
• Manoeuvring in a large arena from one zone to another zone
• Picking and placing child robot in different orientations and locations in these zones
• Pushing a swing with child robot• Pushing a see-saw with child robot on one side
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Child Robot: Objective
• Autonomously traversing from one pole to another in a pole walk zone arranged with poles arranged in a specific orientation
![Page 5: Robocon 2014 ppt - Akshat AgarwalRobocon 2014 Project Coordinators: Abhishek Sharma [11030] Dhrupal R Shah [11250] Project Guide: Prof Bhaskar Dasgupta Head, Mechatronics Lab Mechanical](https://reader033.vdocuments.us/reader033/viewer/2022042709/5f4df560de8d9b7b4533124d/html5/thumbnails/5.jpg)
Parent Robot: The Challenge
• Dimensions: should fit in a 1000mm cube before start and in a cube of 1500mm cube after start
• Locomotion: actuators + wheels• Gripping child robot• Design: degrees of freedom, swing
pushing, see saw pushing• Control System
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Child Robot: The Challenge
• Dimensions: should fit in a 500mm cube• Gripping poles, sustaining weight• Design: degrees of freedom, mechanisms• Interaction with Parent Robot• Gripping by Parent Robot• Control System• Programming
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Brain Stormingand
Designing
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Parent Robot: Locomotion
Motors
Worm Geared PMDC
BLDC
Spur Geared PMDC
Drive
2WD + Castors
4WD-Mecannum
Wheels
4WD- Omni Wheels
![Page 10: Robocon 2014 ppt - Akshat AgarwalRobocon 2014 Project Coordinators: Abhishek Sharma [11030] Dhrupal R Shah [11250] Project Guide: Prof Bhaskar Dasgupta Head, Mechatronics Lab Mechanical](https://reader033.vdocuments.us/reader033/viewer/2022042709/5f4df560de8d9b7b4533124d/html5/thumbnails/10.jpg)
Parent Robot: Motors
Worm Geared Permanent Magnet
DC Motor
•High Torque•High no load
current•Low RPMs•Too heavy•Moderate cost•Easily available in
India
Brushless DC Motor
•High Torque•Nominal no load
current•Desirable RPMs•Very light•Very expensive•Manufactured
outside India
Spur Geared Permanent Magnet
DC Motor
•High Torque•Nominal no load
current•Desirable RPMs•Moderate weight•Moderate cost•Easily available in
India
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Parent Robot: Drive
2 Wheel Drive+ Castor Wheels
• Nominal power consumption
• Cheapest option• Worst
maneuverability
4 Wheel Drive: Mecannum Wheels
• About 3 times more power consumption
• Costliest option• Good
maneuverability
4 Wheel Drive: Omni Wheels
• Power consumption nearly same as 2WD with castors
• Nominal cost• Best
maneuverability
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Parent Robot: Gripper
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Parent Robot: Design Requirements
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Parent Robot: Design Requirements
TASKS HEIGHT(mm) EXTENTION(mm) ORIENTATION FROM VERTICAL AXIS
SEASAW 170 380 90
DURING PLAY
560 380 90
SWING 400 700 90
POLE WALKING
300 350 0
Table 1.1: Design requirements to be fulfilled by the bot
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• See saw pushing:• Planned to use pneumatic actuators• Orientation? Mechanism?
• Swing pushing:• Planned to use pneumatic actuators• Force? Stroke length?
Parent Robot: Design Requirements
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Parent Robot: Design
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Parent Robot: Control System
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Child Robot: Gripper
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Child Robot: Gripper Calculations
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Child Robot: Gripper in Action
Figure: Gripper Version 1- Load testing
Load = 3.9 KgMinimum pressure at piston = 40 Psi
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Child Robot: Gripper Module
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Child Robot: Design
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Child Robot: Control System
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Child Robot: Programming
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Child Robot: Pole Searching
Possible initial starting points.
Minimum distance orientation.
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Fabricationand
Development
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Parent Robot: Locomotion
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Parent Robot: Gripper
Parallelogram mechanism
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Parent Robot: See Saw & Swing Task
See saw pushing mechanism
Swing Pushing
Mechanism
Lever Arm mechanism
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Parent Robot: Reality vs Design
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Parent Robot: Electronics
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Pneumatics Control
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Child Robot: Gripper Module
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Child Robot: Design
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Resultsand
Our Performance
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Parent Robot: Sea-Saw
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Parent Robot: Swing
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Parent Robot: Pole Walk
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Parent Robot: Pole Walk
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The Game
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Best Innovative Design Award
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Thank You