Omni Directional Robot

C PRASHANTH KUMAR

ECE

What is robotics??

Robotics is science of designing or building an application

of robots.

Simply robotics may be defined as “The Study of Robots”.

Robotics develop man-made mechanical devices that can

move by themselves whose motion must be planned,

sensed, actuated and controlled and whose motion

behaviour can be influenced by programming.

The aim of robotics is to design an efficient robot

Types of Robots

Mobile robots

Rolling robots

Walking robots

Stationary robots

Autonomous robots

Remote-control robots

Omni Directional Robot

It is a vehicle used to move in all directions.

Our project aims at designing a omni directional robot equipped with three omni-wheels, mounted at 120 degrees apart.

These wheels will be mounted on DC motors which will be driven by L298 motor drivers.

Block Diagram

Components

ATMEGA 128 Microcontroller

development board

DC Motor

Motor drivers

Omni Wheels

DTMF decoder

ATMEGA 128

The ATmega128 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC architecture.

By executing powerful instructions in a single clock cycle, the ATmega128 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.

DC MOTOR

A DC motor is any of a class of

electrical machines that converts direct

current electrical power into mechanical

power.

The most common types rely on the

forces produced by magnetic fields.

Nearly all types of DC motors have

some internal mechanism, either

electromechanical or electronic, to

periodically change the direction of

current flow in part of the motor.

MOTOR DRIVER

The L298 is an integrated monolithic

circuit in a 15- lead Multi watt and

PowerSO20 packages. It is a high voltage,

high current dual full-bridge driver

designed to accept standard TTL logic

levels and drive inductive loads such as

relays, solenoids, DC and stepping motors.

Two enable inputs are provided to enable

or disable the device independently of the

input signals. The emitters of the lower

transistors of each bridge are connected

together and the corresponding external

terminal can be used for the connection of

an external sensing resistor.

OMNI WHEELS

Omni wheels or poly wheels, similar

to mecanum wheels, are wheels with

small discs around

the circumference which are

perpendicular to the turning direction.

The effect is that the wheel can be

driven with full force, but will also

slide laterally with great ease.

These wheels roll forward like normal

wheels, but slide sideways with almost

no friction (no skidding during turns).

DTMF DECODER

DTMF is the acronym for Dual tone

modulation frequency. Robotic

vehicle based on DTMF technology is

explained in this project.

When a key is pressed from our

mobile, it generates a tone

combination of two frequencies from

our keypad. In the two frequencies,

one is high frequency and another one

is low frequency. This frequency can

be decoded by the decoder IC into

binary sequence. DTMF based robotic

vehicle circuit consists of DTMF

decoder IC, driver IC and motors.

DIRECTIONS OF A OMNI

ROBOT

Software

CV AVR

ISIS PROTEUS

SINAPROG

CV AVR

HP InfoTech presents a new version of the most popular (more than

14600 registered users) commercial C Compiler for the Atmel AVR

microcontrollers.

Code Vision AVR is the only Integrated Development Environment

on the market that features an Automatic Program Generator (Code

Wizard AVR) for the new XMEGA chips.

Code Vision AVR V3, besides it’s own IDE, can now also be used as

an Extension fully integrated in Atmel Studio 6.2.

The Code Vision AVR Advanced version also features the LCD

Vision Font & Image Editor/Converter and Graphic Display Libraries.

Isis Proteus

The Proteus schematic capture module lies at the heart of the system, and

is far more than just another schematics package.

It combines a powerful design environment with the ability to define most

aspects of the drawing appearance.

Whether your requirement is the rapid entry of complex designs for

simulation and PCB layout, or the creation of attractive schematics for

publication, Proteus Capture is the tool for the job.

Open Proteus in order to design their circuit, they found out that the

components they have used in their project are not available in the

Proteus Directory.

In that case, there’s a need to design your own component in Proteus and

place it in the circuit.

Although, this new designed component won’t work as the real

component but for presenting the circuit, it will be enough.

SINA PROG

Sina Prog Program Download Guide will help to learn how to

download hex file into all AVR microcontrollers. Connect the

AVR USB programmer to the PC to Laptop directly or with the

help of USB AM-FM Cable provided with the AVR USB

programmer package.

Then, connect the AVR Trainer Board-100 or any other

microcontroller board that you have, with the AVR USB

programmer through the 10 to 10 FRC Female Connector

provided with the AVR USB programmer Package.

PROCEDURE

The C program is written in the CODE VISION AVR

software, where it has a facility for predefined header files.

After the program is written, it is compiled and built.

To simulate, we use the software ISIS PROTEUS.

It checks for connection errors.

To dump the tested program into the hardware, we use

SINA PROG.

TYPES OF OMNI ROBOTS

ADVANTAGES

The first main advantage omni directional robot is that it can move in all 8 directions i.e., in 360 degrees.

Robots can work in factories and do the same thing over and over again and not do it any differently. Humans on the other hand will get tired after doing the same thing repetitively and could easily make a mistake.

This robot to serve food or products, to carry material from one place to another, to send medicines to the patients kept in the isolated environments, etc.

DISADVANTAGE

One main disadvantage that results from

Humanoid Robots will be that many people are

going to lose their jobs.

It cannot be applied in automobiles because it

can reduce mileage of the vehicles.

The companies that put money in research and

development of these robots and do not sell any

will also be losers.

CONCLUSION

Omnidirectional vehicles have great advantages

over conventional (non-holonomic) platforms.

They can crab sideways, turn on the spot, and

follow complex trajectories.

Robots are taking over tasks which are dull and

dangerous.

Technology Should be used and implemented for

Construction but not for destruction.

THANK YOU