TRANSFORMING ROBOT

TRANSFORMING ROBOTunder the guidance of MS.LIDIYA XAVIER

ABHISHEK KAKHIL C MAKHIL K KAMAL ALEXMUHAMMED NIHAL P AINTRODUCTIONWHAT IS A ROBOT.!!!!!THE FIELDS WHERE THE ROBOTS ARE WIDELY USED....MILITARY FIELD: DEFENSE, BOMB DISPOSAL, ASSISTANCEINDUSTRIAL FIELD: AUTOMATED MACHINES, AGVSMEDICAL FIELD: REMOTE SURGERY, HANDICAPPED ASSISTANCE, ARTIFICIAL ROBOTIC BODY PARTS

INTRODUCTIONLIMITATION OF CURRENT MILITARY ROBOTPHYSICAL STRUCTURE CANT BE CHANGEDONLY ONE TRAVEL METHOD- WALKING OR ROLLINGROLLING TYPE IS FAST AND GOOD FOR FLAT SURFACE ONLY WALKING TYPE IS SLOWER AND USED FOR IRREGULAR PATH

INTRODUCTIONUSING DIFFERENT ROBOT FOR DIFFERENT PATH CONDITION IS NOT A CONVENIENT METHODSO TO OVERCOME THIS PROBLEM?

INTRODUCTIONTHE GOOD CHOICE IS TO ADOPT THE TWO TRAVEL METHOD TO A SINGLE ROBOTOUR AIM IS TO DEVELOPE SUCH A ROBOT AS OUR MAIN PROJECTNAMED TRANSFORMING ROBOTIC VEHICLETHIS ROBOT CAN CHANGE ITS PHYSICAL STRUCTURE BY ELECROMECHANICAL MOVEMENTS.SO THE OPERATOR CAN CHOOSE THE TRAVEL METHOD ON REQUIREMENT WALKING MODE AND ROLLING MODE

INTRODUCTIONTHE ROBOT MAINLY INCLUDEWHEELS FOR ROLLING LEGS FOR WALKINGA ROBOTIC ARMWIRLESS CAMERAENVIRONMENT CONDITION MONITORING SYSTEMTHE ENTIRE ROBOT IS CONTROLLED BY A HUMAN OPERATORVIA A RADIO REMOTE CONTROLL

INTRODUCTIONTHE MOVEMENT ARE OBTAINED BY DC GEARED MOTOR8051 MICROCONTROLLER BASED CONTROLLING IS USED

OBJECTIVETO DEVELOP A ROBOT THAT ADOPT TWO TRAVEL METHOD TO OVERCOME THE DIFFICULTY FACED BY CURRENT MILITARY ROBOTSBECAUSE OF INCREASED FLEXIBILITY , CAN BE USED FOR DOING DIFFICULT TASK

BLOCK DIAGRAMREMOTECONTROLL SWITCHESENCODERBATTERYRF TRANSMITTERANTENNA48ROBOT /RECIEVERLIGHT AND INDICATORS8051 U-CONTROLLERPORT EXTENDER POWER MANAGMENTRF RECIEVER AND DECODER BATTERYMULTI INPUT CHANNEL ADCDECODEROTHER POSITION SENSORS ANDOBSTACLE DETECTION SENSORSGEARED MOTORS DRIVERSHAFT POSITION SENSORSADRESS LINE- 8 SELECT LINES CHANNEL SELECTDATA LINE -8ANALOGUE SIGNAL LINESANALOGUE LINESCONTROLLBLOCK DIAGRAMREMOTECONTROLL SWITCHESTHESE SWITCHES ARE THE INPUT ELEMENTEACH SWITCH WILL HAVE DEDICATED FUCTIONTYPES NEEDED ARE PUSH BUTTON, SCROLLING WHEELENCODER THE ENCODER WILL GENERATE A BINARY DATA BASED ON THE SWITCH PRESSEDDTMF DECODER IS COMMONLY USED

BLOCK DIAGRAMRF TRANSMITERIT MODULATE THE INPUT SERIAL DATA AND TRANSMIT WIRLESSLYIT USES RF RADIO FREQUENCYALLOW TO CONTROLL THE ROBOT FROM LARGE DISTANCECOMMUNICATION IS LESS INTERRUPTED BY OBSTACLE

BLOCK DIAGRAMROBOT /RECIEVER8051 MICROCONTROLLER8051 IS AN 8 BIT MICROCONTROLLERHAVE 64K ROM MEMORY128 BYTE OF MEMMORY SPACEHAVE 4 PORTS EACH OF 8 LINESTHE WORKING OF PINS DEPENDS ON THE PROGRAM STORED IN ITS FLASH MEMMORY

BLOCK DIAGRAMIT IS THE SIMPLEST MICROCONTROLLER IT READS THE I/P DATA FROM SENSORS AND EXCECUTE THE PROGRAM AND CONTROLL THE MOTORS AND INDICATORSTHE PROGRAM CAN BE WRITTEN IN ASSEMBLY LANGUAGETHE COMPILER USED IS THE KIEL UVISIONGEARED MOTORS AND SHAFT POSITION SENSORGEARED MOTOR WILL PRODUCE THE REQUIRED MOTIONTHIS MOTORS HAVE HIGH TORQUE BUT LESS SPEEDCAN OPERATE IN LOW VOLTAGE (5V TO 12V)ALMOST 30 MOTORS NEEDED TO OBTAIN THE COMPLETE MOVEMENT

BLOCK DIAGRAMPOSITION SENSOR USED IS POTENTIOMETERTO TRACK THE POSITION OF SHAFTTHE OUTPUT OF SENSOR IS ANALOGUE SIGNALMULTIPLEXED ADCADC IS USED TO CONVERT ANALOGUE SIGNAL TO DIGITALADC0804 IS 8 BIT SUCCESSIVE APPX TYPE ADCMANY ANALOGUE SIGNAL (SENSOR O/P) IS MULTIPLEXED TO CONNECT TO ADC I/P

BLOCK DIAGRAMMULTIPLEXING REDUCE NUMBER OF ADC USEDFOR THIS ANALOGUE MULTIPLEXER IS USEDPORT EXTENDOR 8051 HAVE LIMITED NO OF PORTS (4 PORTS)TO EXTEND THE NUMBER OF PORTS PORT EXTENDOR IS USED 8255A IS A PROGRAMMABLE PERIPHERAL INTERFACE

BLOCK DIAGRAMDECODERDECODER DECODES THE BINARY ADRESS TO SELECT LINESSELECT LINE USED TO ENABLE DIFFERENT MODULES INDEPENDENTLYRF RECIEVERRECIEVES MODULATED RF WAVES FROM THE REMOTE DECODER DECODES THE RECEIVED DATA AND PRODUCE BINARY O/P

BLOCK DIAGRAMPOWER MANAGEMENTUSED TO SAVE POWER BY SWITCHING ROBOT PARTS ONLY AT THE TIME OF USESUPPLY POWER TO ALL CIRCUITRY

PROGRESSWE FIRST SEARCH FOR THE AVAILABILITY OF THE COMPONENTS NEEDED. WE FOUND MOST OF THE COMPONENT IN THE MARKETTHE CIRCUIT IS DESIGNING WITH THE AVAILABLE COMPONENT WE EXPECTINGAND STARTED THE PHYSICAL STRUCTURE DESIGNING

PROGRESS THE FIRST MOTOR JOINT THAT WE MADE WAS THIS ONE WHICH INCLUDE A GEARED MOTOR AND A POTENTIOMETER POSITION SENSORTHIS WAS ONLY MADE TO CHECK THE STRUCTURE BEHAVIOR OF THE JOINT ( THE MAX & MIN POSITION MOVEMENT OF JOINT WITH THE POTENTIOMETER)

PROGRESS THEN WE MADE A JOINT, TO CHECK THE POSITION CONTROLL WITH 8051 MICROCONTROLLERTHIS PROTOTYPE IS MADE USING TWO GERED MOTOR AND A POSITION SENSORTHE FRAME WAS MADE USING 4mm THICKNESS FIBER MATERIAL THE CIRCUIT INCLUDE AN ADC(ADC804), MOTOR DRIVER(L293D), 8051 DEVELOPEMET BOARD, ANALOG SWITCH IC(CD4016), AND TWO POTENTIOMETER( ONE FOR CONTROL AND NEXT FOR MOTOR SHAFT)THE PROGRAM WAS WRITTEN IN C AND CONVERTED TO HEX CODE USING KEIL UVISION SOFTWARE AND HEX CODE PROGRAMMED TO THE DEVELOPMENT BOARD USING FLASH MAGIC, SOFTWARE VIA AN RS232 INTERFACE.

PROGRESS THE MOTOR SHAFT TRACKED THE EXACT POSITION OF THE CONTROLLING POTENTIOMETERBUT WE ENCOUNTERED SOME PROBLEM WITH THE FRAME USING 4MM FIBER MAKE THE JOINT SO STRONG BUT IT WAS SO BULKY AND HEAVYTHEN WE DESIDED TO USE THE ALUMINIUM MATERIAL FOR FRAME CONSTRUCTION BECAUSE IT IS LIGHT IN WEIGHT AND STRONGBUT BEFORE THAT WE HAVE TO CONSTRUCT A DUMMY MODEL TO GET THE CORRECT DIMENSION AND MOVEMENT POSSIBILITIES.SO WE CHOOSE 1mm THICKNESS FIBER SHEET TO BUILD THE DUMMY BECAUSE IT IS LIGHT , NOT MUCH STRONG , SO EASY TO MAKE SHAPES BY HEATING.

PROGRESSTHE PROTOTYPE OF JOINT THAT WE MADE FOR POSITION CONTROL CHECKING

PROGRESSThe FOLLOWING FIGURE SHOWS DUMMY MODEL OF ONE OF THE LEG OF THE ROBOTTHE FRAMES ARE MADE OF 1MM FIBERSHEET BUT CONNECTIONS ARE NOT MADE SIDE VIEW TOP VIEW

PROGRESSTHIS FIGURE SHOWS ONE OF THE JOINT

WORK TO BE DONEAFTER COMPLETING THE DUMMY MODEL WE HAVE TO REPLICATE THE FRAME USING ALUMINIUM SHEET METALAND ALSO THE REMOTEAND THE OVERALL CIRCUIT SHOULD BE IMPLEMENTED USING BREAD BOARD AND THEN TO PRINTED PCBTHEN THE PROGRAM HAS TO BE WRITTEN

ADVANTAGES & DISADVANTAGES ADVANTAGETWO MODE OF TRAVELTHUS CAN TRAVELL THROUH DIFFICULT LAND CONDITIONTHE ROBOTIC ARM PROVIDE ADDITIONAL FUNCTIONSDUE TO FLEXIBILITY OF ROBOT OPERATION CAN DO VARIOUS TASKSDISADVANTAGEDUE TO LARGE NUMBER OF MOTORS THE WEIGHT OF ROBOT IS HIGHALSO COST IS HIGH DUE TO INCREASED NUMBER OF COMPONENTS

FUTURE SCOPETHIS ROBOTS TRANSFORMATION AND OTHER CONTROLLS ARE CONTROLLED BY A HUMAN OPERATOR TRANSFORMATION COULD BE AUTOMATED WITH SOME MODIFICATIOS

REFERENCEwww.robotmarketplace.comwww.superdroidrobots.com

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