TRANSFORMING ROBOT

under the guidance of MS.LIDIYA XAVIER ABHISHEK K AKHIL C M AKHIL K K AMAL ALEX MUHAMMED NIHAL P A

INTRODUCTION
WHAT IS A ROBOT.!!!!! THE FIELDS WHERE THE ROBOTS ARE WIDELY USED....

1.

MILITARY FIELD:
DEFENSE, BOMB DISPOSAL, ASSISTANCE

2.

INDUSTRIAL FIELD: AUTOMATED MACHINES, AGVS

3.

MEDICAL FIELD: REMOTE SURGERY, HANDICAPPED ASSISTANCE,

ARTIFICIAL ROBOTIC BODY PARTS

INTRODUCTION
LIMITATION OF CURRENT MILITARY ROBOT 1. PHYSICAL STRUCTURE CANT BE CHANGED 2. ONLY ONE TRAVEL METHOD- WALKING OR ROLLING 3. ROLLING TYPE IS FAST AND GOOD FOR FLAT SURFACE ONLY 4. WALKING TYPE IS SLOWER AND USED FOR IRREGULAR PATH

INTRODUCTION

5.

USING DIFFERENT ROBOT FOR DIFFERENT PATH CONDITION IS NOT A CONVENIENT METHOD

6.

SO TO OVERCOME THIS PROBLEM?

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

INTRODUCTION
THE ROBOT MAINLY INCLUDE 1. WHEELS FOR ROLLING 2. LEGS FOR WALKING 3. A ROBOTIC ARM 4. WIRLESS CAMERA 5. ENVIRONMENT CONDITION MONITORING SYSTEM

THE ENTIRE ROBOT IS CONTROLLED BY A HUMAN OPERATOR

VIA A RADIO REMOTE CONTROLL

INTRODUCTION
THE MOVEMENT ARE OBTAINED BY DC GEARED MOTOR 8051 MICROCONTROLLER BASED CONTROLLING IS USED

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

BLOCK DIAGRAM

REMOTE
ANTENNA

CONTROLL SWITCHES

RF TRANSMITTER

ENCODER BATTERY

ROBOT /RECIEVER
RF RECIEVER AND DECODER
CONTROLL

LIGHT AND INDICATORS

8051 U-CONTROLLER ADRESS LINE- 8 DECODER

PORT EXTENDER

DATA LINE -8

GEARED MOTORS DRIVER

SHAFT POSITION SENSORS

ANALOGUE SIGNAL LINES

SELECT LINES

CHANNEL SELECT

48

BATTERY OTHER POSITION SENSORS AND OBSTACLE DETECTION SENSORS

ANALOGUE LINES

MULTI INPUT CHANNEL ADC

POWER MANAGMENT

BLOCK DIAGRAM
REMOTE I. CONTROLL SWITCHES THESE SWITCHES ARE THE INPUT ELEMENT EACH SWITCH WILL HAVE DEDICATED FUCTION TYPES NEEDED ARE PUSH BUTTON, SCROLLING WHEEL II. ENCODER
THE ENCODER WILL GENERATE A BINARY DATA BASED ON

THE SWITCH PRESSED DTMF DECODER IS COMMONLY USED

BLOCK DIAGRAM
III. RF TRANSMITER
IT MODULATE THE INPUT SERIAL DATA AND TRANSMIT WIRLESSLY IT USES RF RADIO FREQUENCY ALLOW TO CONTROLL THE ROBOT FROM LARGE DISTANCE COMMUNICATION IS LESS INTERRUPTED BY OBSTACLE

BLOCK DIAGRAM
ROBOT /RECIEVER I. 8051 MICROCONTROLLER 8051 IS AN 8 BIT MICROCONTROLLER HAVE 64K ROM MEMORY 128 BYTE OF MEMMORY SPACE HAVE 4 PORTS EACH OF 8 LINES

THE WORKING OF PINS DEPENDS ON THE PROGRAM STORED

IN ITS FLASH MEMMORY

BLOCK DIAGRAM
IT IS THE SIMPLEST MICROCONTROLLER IT READS THE I/P DATA FROM SENSORS AND EXCECUTE THE PROGRAM AND CONTROLL THE MOTORS AND INDICATORS THE PROGRAM CAN BE WRITTEN IN ASSEMBLY LANGUAGE

THE COMPILER USED IS THE KIEL UVISION

II. GEARED MOTORS AND SHAFT POSITION SENSOR GEARED MOTOR WILL PRODUCE THE REQUIRED MOTION

THIS MOTORS HAVE HIGH TORQUE BUT LESS SPEED

CAN OPERATE IN LOW VOLTAGE (5V TO 12V) ALMOST 30 MOTORS NEEDED TO OBTAIN THE COMPLETE

MOVEMENT

BLOCK DIAGRAM
POSITION SENSOR USED IS POTENTIOMETER TO TRACK THE POSITION OF SHAFT THE OUTPUT OF SENSOR IS ANALOGUE SIGNAL III. MULTIPLEXED ADC ADC IS USED TO CONVERT ANALOGUE SIGNAL TO DIGITAL

ADC0804 IS 8 BIT SUCCESSIVE APPX TYPE ADC

MANY ANALOGUE SIGNAL (SENSOR O/P) IS MULTIPLEXED TO CONNECT TO ADC I/P

BLOCK DIAGRAM
MULTIPLEXING REDUCE NUMBER OF ADC USED FOR THIS ANALOGUE MULTIPLEXER IS USED IV. PORT 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 DIAGRAM
V. DECODER
DECODER DECODES THE BINARY ADRESS TO SELECT LINES

SELECT LINE USED TO ENABLE DIFFERENT MODULES

INDEPENDENTLY VI. RF RECIEVER
RECIEVES MODULATED RF WAVES FROM THE REMOTE DECODER DECODES THE RECEIVED DATA AND PRODUCE BINARY O/P

BLOCK DIAGRAM
VII. POWER MANAGEMENT

USED TO SAVE POWER BY SWITCHING ROBOT PARTS ONLY AT

THE TIME OF USE SUPPLY POWER TO ALL CIRCUITRY

PROGRESS
WE FIRST SEARCH FOR THE AVAILABILITY OF THE COMPONENTS
NEEDED. WE FOUND MOST OF THE COMPONENT IN THE MARKET

THE CIRCUIT IS DESIGNING WITH THE AVAILABLE COMPONENT WE

EXPECTING AND 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 SENSOR THIS 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 MICROCONTROLLER THIS PROTOTYPE IS MADE USING TWO GERED MOTOR AND A POSITION SENSOR THE 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 POTENTIOMETER BUT WE ENCOUNTERED SOME PROBLEM WITH THE FRAME

USING 4MM FIBER MAKE THE JOINT SO STRONG BUT IT WAS SO

BULKY AND HEAVY THEN WE DESIDED TO USE THE ALUMINIUM MATERIAL FOR FRAME

CONSTRUCTION BECAUSE IT IS LIGHT IN WEIGHT AND STRONG

BUT 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.

PROGRESS
THE PROTOTYPE OF JOINT THAT WE MADE FOR POSITION CONTROL CHECKING

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

PROGRESS
THIS FIGURE SHOWS ONE OF THE JOINT

WORK TO BE DONE
AFTER COMPLETING THE DUMMY MODEL WE HAVE TO REPLICATE THE FRAME USING ALUMINIUM SHEET METAL AND ALSO THE REMOTE AND THE OVERALL CIRCUIT SHOULD BE IMPLEMENTED USING BREAD BOARD AND THEN TO PRINTED PCB THEN THE PROGRAM HAS TO BE WRITTEN

ADVANTAGES & DISADVANTAGES

ADVANTAGE
TWO MODE OF TRAVEL THUS CAN TRAVELL THROUH DIFFICULT LAND CONDITION THE ROBOTIC ARM PROVIDE ADDITIONAL FUNCTIONS DUE TO FLEXIBILITY OF ROBOT OPERATION CAN DO VARIOUS TASKS DISADVANTAGE DUE TO LARGE NUMBER OF MOTORS THE WEIGHT OF ROBOT IS HIGH ALSO COST IS HIGH DUE TO INCREASED NUMBER OF COMPONENTS

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

MODIFICATIOS

REFERENCE
www.robotmarketplace.com
www.superdroidrobots.com

THANK YOU