ROBOTS FEATURES

ABU ROBOCON 2012 HONGKONG “Peng on Dai

Gat”

By Achyut Paudel

-Team Leader

The Manual Robot

TASKS

The Manual robot picks up the Token

from the Token stand and puts it into

the token box beside the tunnel.

After passing through the tunnel, the

Manual robot lifts up the Collector

robot from the collector robot zone

and unloads it to the automatic robot

from the loading area one.

The Manual robot carries the basket in

the manual robot zone to the basket

area in the island.

The Manual robot lifts up the Collector

robot lying in the island to let it pick

the bun from the top layer and drop on

the basket.

Mechanical Details

Mechanical steering using a handle bar and

the driving motor embedded in the wheel,

two rear free wheels and two front idlers.

Sliders driven by chain and sprokets for up

and down movement of the fork and the

token gripper.

Solenoid valve operated pneumatic scissor

mechanism to grip the token.

Fork lift mechanism to lift up the Collector

robot and the basket.

Electronic Details

Driving motor driven by H-bridge and

slider driven by relay bridge.

Speed control of the driving motor

using variable resistance

potentiometer

16F877A microcontroller.

Infra Red Light Emitting Diode for

wireless communication.

Photos

Pneumatic Gripper(Scissor Mechanism)

Motor Coupled Single

wheel Drive

Vertical Slider with chain drive, Forklift

The Automatic

Robot

Tasks

To carry one of the baskets from the

Common Zone to any part of the

Manual Robot zone.

Carry and unload the Collector Robot

to either Loading Area two or Loading

Area three.

Mechanical Details

Two back wheel driving motors, two

front free wheels.

Fork lift mechanism attached in a

vertical slider to lift up the basket.

Pulley operated horizontal sliding

mechanism to adjust the centre of

gravity.

A hook on the vertical slider to restrain

the motion of Collector robot while in

motion.

Electronic Details

Two H-Bridges, two relay bridges and

dual controller interface.

Programmable reflective optical

sensor for line tracking.

Two rear wheel quadrature phase

optical encoders for position/motion

control.

PID velocity control.

16F877A microcontroller.

Photos

Motor Coupled Back wheel Drive, Circuits Forklift

Horizontal and

Vertical Sliders

The Collector

Robot

Tasks

Climb up the stairs from Loading Area

two to the Island as per the game plan

one.

Pick the buns from lowest and middle

layers of the bun tower and put in the

basket.

Pick the bun in the top layer and put in

the basket while itself being lifted by

the Manual Robot.

Mechanical Details

Six wheel drive, two driving motors connected to

two rear wheel(up) shaft, power transmitted

through chain and sprokets to front two wheels and

two rear wheels (down).Two front(down) idlers.

Folding leg mechanism for climbing the stairs from

Loading Area two to Island.

Gear coupled rotating tower.

Rack and Pinion embedded vertical slider.

Pulley operated horizontal sliders.

Pneumatic lever for gripping buns.

Electronics Details

Four H-bridges and a dual controller

interface.

Programmable reflective optical sensors for

line tracking.

Proximity sensors for bun and basket

detection.

A single quadrature phase optical encoder

for rotation control of tower.

16F877A microcontroller.

Folding leg and Driving

mechanism

PHOTOS

Gear Coupled Rotating

tower

Vertical and Horizontal

Sliders

Pneumatic Gripper with Proximity

sensor