implementation of solenoids for cylindrical or spherical robotic locomotion
DESCRIPTION
Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion . Presenters . Justin Moses. Joel Lawrence. Spherical Robots. Sphero tm ball robot controlled by iPhone/ iPad Commercially available. Typical Spherical Robots. Movement is controlled by internal mechanisms - PowerPoint PPT PresentationTRANSCRIPT
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Implementation of Solenoids for Cylindrical or Spherical Robotic
Locomotion
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Presenters
Joel Lawrence Justin Moses
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Spherotm ball robot controlled by iPhone/iPad
Commercially available
Spherical Robots
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Movement is controlled by internal mechanisms◦ Counter-pendulum◦ Gyroscope◦ Internal rotor
Omnidirectional Can traverse many types of terrain Have no top – bottom orientations Sealed off from the environment
Typical Spherical Robots
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Cannot stop quickly Cannot overcome obstacles greater than
the radius of the sphere Hard to have a zero-turn radius (hard to turn
about the z axis)
Limitations of Spherical Robots
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Use solenoids!Solution
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Allow for greater control of movement Robot can stop sooner Robot has the potential to jump to
overcome obstacles
Why Solenoids?
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Weight Cost Open to the environment High power consumption
Disadvantages
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Solenoids use inductance to control a plunger
Can be push, pull, or push-pull
Usually have springs to automatically retract or extend after turned off
Solenoids and Implementation
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Uses solenoids with plungers extending from the shell
Only two rows to show proof of concept
Built inside a hamster ball
Spherical Design
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Use a cylinder instead of a sphere
Use the body of a pen to stop the plungers
Everything else stays the same
Simplified Design
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TI MSP430 as the microcontroller Either a TIP31 or a MJE3055 BJT 7805 5v rectifier IC Standard 120 Vac to 12 Vdc wall plug Coded using Code Composer Studio
Controlling the Robot
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Used LEDs to indicate which solenoid should be activated
Original 2N3904 transistors failed
Testing
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