sample project by haoken

8/7/2019 Sample project by Haoken

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By:

Students:FernandoandBillySupervisor:Haoken


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Design,buildandprogramaRobot

thatfollowstheobstaclewaytillmissionpointandthencarriesasmanyping-pongballsaspossibletobasecamp.


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Rules 1)Thetimeforrobotsmissionperformanceis2

minutes.Timeismeasuredatthepointthatrobotstartsandjudgeblowsawhistleforsignalofstarting.

2)Robotmuststartfromstartarea.Anypartoftherobotisnotallowedtoexceedthestartareabefore

itstarts. 3)Goingalongtheway,ifbothwheelsofrobotare

runoffthecourse,thematchwillbequittedimmediatelyandonlyscorewhichobtainedjustbeforewillbeapproved.

4)Robotisnotallowedtoturnbacktothewaywhereitstarted.Ex:ifrobotstartedontheAline,itmustturnbacktothebasecampintheBorCline.


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5)Robotstartsfromthebasecamp,performsmissionsandcomesbacktothebasecamp.Whenthebodyofrobotistouchedwiththebasecamp,thematchiscompleted.

6)Ifcontestanttouchestherobotoutofthebasecampafteritstarts,contestantwillbedisqualified.

7)Robothasonechancetoachievethemission.Togetmissionpoints,Robotmustcompletelypassthroughallmissionareas.


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Regulationsaboutrobot: 1.Themaximumdimensionsoftherobotbeforeit

startsmustbewithin250mm250mm250mm.Afterrobotstarts,thedimensionoftherobotisnotrestricted.

2.Teamsareallowedonlyonecontroller(RCXorNXT).

3.Amountsofmotorsandsensorsarenotrestricted. 4.Anyactionsormovementsbytheparticipants

arenotallowedtointerfereorassisttherobot

whileitisrunning.Teamsthatviolatethisrulewillbedisqualifiedatthatmatch.


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5.Arobotmustbeautonomousandfinishthemissionsbyitself.Anyradiocommunication,remotecontrolandwiredcontrolsystemsarenotallowedwhiletherobotisrunning.Teamsinviolationofthisrulewillbe

disqualifiedandmustquitthecompetitionimmediately.

6.IfrobotisequippedwithNXTasacontroller,theBluetoothfunctionmustbeswitchedoffand

downloadingprogramsmustbedonethroughUSBcable.


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MATERIALS: 1.Court


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2)Onehundredandorangecoloredping-pongballs

2.LEGOMINDSTORMSTMEducationNXTsetsandresourcesets


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3.LEGOMINDSTORMSTMNXTV2software

4.StopWatch5,Laptop 6.DigitalCamera


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BACKGROUNDINFORMATIONTheLEGOMINDSTORMSNXTSystem PhysicsisfunandRobotsarefascinating.Theconcept

ofnonlivingmaterialsperformingcomplicatedtasksallbythemselvesistrulyamazing!


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LegoMindstormsNXTisaprogrammableroboticskitreleasedbyLegoinJuly2006,replacingthefirst-generationLEGOMindstormskit.


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Thekitconsistsof519Technicpieces,3servomotors,4sensors(ultrasonic,sound,touch,andlight),7connectioncables,aUSBinterfacecable,andtheNXTIntelligentBrick.


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Therobot's"brain!"Theall-newNXTIntelligentBrick,our

robotsbrain,featuresapowerful32-bitmicroprocessorandFlashmemory.TheNXTintelligentBrickincludes:


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Ourrobot's"eyes!" TheUltrasonicSensorhelpsourrobotjudgedistances

and"see"whereobjectsare!UsingtheNXTBrick,theUltrasonicSensorisabletodetectanobjectandmeasureitsproximityininchesorcentimeters.


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Detectlightintensity! TheLightSensorassistsinhelpingourrobotto"see."

UsingtheNXTBrick,itenablesourrobottodistinguishbetweenlightanddark,aswellasdeterminethelightintensityinaroomorthelightintensityofdifferentcolors.


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Takeprecisesteps! TheServoMotorhasabuilt-inrotationsensorthat

measuresspeedanddistance,andreportsbacktotheNXTIntelligentBrick.Thisallowsforprecisestepsandcompletemotorcontrolwithinonedegreeofaccuracy!Severalmotorscanbealignedtodriveatthesamespeed.


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Ourrobot's"fingers!"

TheTouchSensorreactstotouchandrelease,enablingyourroboticcreationto"feel"likeneverbefore!Itcandetectsingleormultiplebuttonpresses,andreportsbacktotheNXTIntelligentBrick(soldseparately.)


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Ourrobot's"ears!" UsingtheNXTBrick,theSoundSensorallowsourrobot

tohear!TheSoundSensorisabletomeasurenoiselevelsinbothdB(decibels)anddBA(frequenciesaround36kHzwherethehumanearismostsensitive),aswellasrecognizesoundpatternsandidentifytonedifferences.


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TheProgrammingLanguageAlthoughthepreviouslymentionedpartsmakeupthe

entirephysicaldesignoftherobot,Theywontdo

anythingwithoutaprogram.TheNXTsystemsprogramminglanguage,whichiscalledNXT-Gisagraphical,drag-and-droplanguagethatwehavefoundtobesoftware.

Whenprogramming,wecanchoosefrommanydifferenttypesofprogrammingblocks,eachofwhichdirectstherobottoperformaspecificaction(suchasmovingamotor,playingasoundandsoon).


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NXT-GEducationVersion


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HARDWARECHALLENGESDesigningandOperatingUltimateGrabbermechanism

Wedividetheprocessofgrabbingballsintofoursteps:

1,findobjects(balls) 2,distinguishtargetobjectsfromwallsorotherobstacles. 3,positionthegrabberincorrectorientation 4,operatethegrabbertocatchtheobjects(balls)


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Theproblemwithusingmotorsisnotinopeningorclosingthehand;itsingettingthehandtoapplycontinuouspressureontheobjecttopreventballs

fromfalling.Thismeanswecannotjustpositionthefingersaroundthem.


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Wemustalsoexertaforcethattightensaroundtheballseventhoughwearenot

movingthefingersanymore.NXTservomotorsaremorerobustandcan

withstandshort-termstalling(havingthem

poweredbuttheirmovementblocked).Theyare,however,extremelypower-hungryandwouldwastealotofourbatteries

powerdoingso.Long-termstallmaystillheatuptheservomotors,andalthoughtheyhaveaprotectionoverheatingisstillundesirable.


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Ourcompact,lightweightgrabber


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Weneedacompact,lightweightgrabberforourliftingandgrabbingmechanism.

Theultimategrabbingsystemwehavedesignedforlastsixmonthsallowsustotransfermotiontodistantpartsthrough

numberofgearsthatpreciselylocatedanddesignedforspecificpurposes,awayfromthemotors.Apairofopposingfingersintroducedadegreeofelasticityintothesystem,andhelpsthefingerscloseandopenbasedonourprecisedegreeandpowerwhichwesetduringour

programming.


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BecomingMobile Mostrobotsaredesignedwithsomekindofmobility

inmind.Motionmakesourcreaturesanimatedandalive,andoffersalimitlessnumberofinteresting,fun,andchallengingprojectswithwhichtotestourcreativityandskills.

Mostmobilerobotsbelongtooneoftwocategories:wheeledrobotsorleggedrobots.Thoughlegsprovideaneffectivewaytomoveonroughterrains,wheelsaregenerallymuchmoreefficientonsmoothsurfacesjust

likeourcourt.Afternumerousexperiments,wedesignedandfinallydecidedtousea6-wheeledskid-steerdrivemechanismforourrobot.


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Buildinga6-wheeldSkid-SteerDrive Theadvantageofourskid-steerdriveisitscapability

toturnonthespot,whichallowsourrobottooperate

intightarea.Thedownsidetothisisthatwhenturningthereisalotoffrictiononsurfacessuchasourcourt.However,weovercomedthisfrictionthroughourprogrammingskills.


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Our6-wheeledskid-steerdriverequiresatrickiersetup.Wemusttransmitthepowertoallthewheels;otherwise,ourplatformwontturnsmoothly,oritmightnoteventurnatall.Themodelshowninfigureusesacombinationofnumberof24tand40tgearsconnectedtotwomotors.Thisplatformproofsbestrong,fast,compact,andlight.WecanaddanNXT,andthereisplentyofroomforsensors,andevenourultimategrabberarm.


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PROGRAMMINGCHALLENGES

Knowingwhereweare?Afterourfirstfewmonthofexperimentingwith

robotics,webegantowonderiftherewasasimplewaytomakeourrobotknowwhereitwasandwhereitwasgoinginotherwords,wewanttocreatesomekindofnavigationsystemabletoestablishitspositionanddirection.Thereisnosinglemethodfordeterminingthepositionandorientationofarobot,

butwecancombineseveraldifferenttechniquestogetusefulandreliableresults.


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Linefollowing,whichwehaveusedinthisproject,isprobablythesimplestandmostreliable

navigationbasedonourcourt.Sayingthatthelightsensorseeisdefinitelytoostrongastatement.Whatitactuallydoesisdetectambientlightandmeasureitsintensity.


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3-Stagesprocess Stage1FromBasecamptoMissionArea

Stage2MissionArea(OperatingandLoadingtheBallsusingGrabber)

Stage3:FromMissionAreabacktoBaseCamp?(Normallywecallit:PulangKampung)


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BasecamptoMissionAreaMovingtowardsthemissionareaandusinglightsensorstopositionTheGrabberBotinstraightposition.


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CombinationofmotorA&grabbermechanismtoexpandthewings


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UsingMyblockstomakeourprogramsimple.MyblocksareselfcontainedpiecesofNXT-GCodethatwecandefineandpackageintoa

Customblueblock.

Stage2

Stage3


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InsideGrabberMyBlockcontainsnumberofSub-MyBlockstooperatetheGrabbing

mechanism.


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FromMissionareabacktoBaseCamp


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Inthecaseoflinefollowing,ourrobotknowsnothingaboutwhereitis,becauseitsknowledgeisbasedsolelyonwhetheritistotherightorleftoftheline.


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Butlinesareindeedaneffectivesystemtosteerarobotfromoneplacetoanother.However,itisnteasy.Whenthelineends,asimpleline

followerwouldturnaroundandgobacktotheothersideofthelineoroutoftrack.Wehavetomakeoursoftwaremoresophisticatedtodetectthesuddenchangeand,insteadofapplyingastandardroutecorrection,startanewdegreealgorithmsthatdrivetherobottowardthebasecampandourrobotwillgoforwardaspecificdistancecorrespondingtotheapproximatelengthoftheline.


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Thedifferentialdriveissimpleandversatile,butitcantgostraight.Thesteeringdrive,meanwhile,goesstraightbutcannotturninplace.Our6-wheeledskid-steerdrivecandoboth.

roboticsislikecooking:therearemanyrecipesforthesamedish,buttobesuccessfulyoustillmustknowtheingredientswellandusethemintherightproportions.Ofcourse,dontforgettoaddthemostimportantingredientofall:ourcreativities.


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Designingagoodroboticgrabberorhandismoreofanartthantechniquetoo.Thereareindeedtechnicalissueswhenitcomestogearingthatwemustknowandconsidertosuccessfullypositionthegrabbers,applytherightamountofpressure,troubleshootthe

elasticityoftheobjecttobegrabbed.Andnotallowourrobottodroptheballs.


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Thankyou

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