EN 2532ROBOTIC DESIGN AND COMPETITION

GROUP 19

• Thiwanka M.K.D.P

• Wannige V.M

• Welagedara T.D

• Wickramasuriya P.I.L

• Wijesekara H.A.R.T

120661U

120680C

120700P

120708X

120715P

INTRODUCTION

Task –

Building an autonomous grid solving robot which can carry light weight boxes

and place them at specific locations.

Main requirements -

Line following capability.

Obstacle detection capability.

Box gripping and carrying capability.

Grid solving/path finding while avoiding nodes.

MAIN COMPONENTS

• LIPO battery – 3000mAh/11.1 V

• Arduino mega 2560

• Sharp IR sensors – 10cm to 80cm

• IR sensor panel - QTR-8RC Analog

• Driver motors – 12V 200rpm

• Servo motors

• Motor driver Module – Dual MC33926

• Caster balls

• Switching voltage regulators – 7805/7808

• Wheels – 7cm

SENSOR SYSTEMS

QTR SENSOR ARRAY

• Array of 8 IR LED/ Phototransistor

pairs.

• Each outputs an analog voltage

• Sensing distance – 5mm from

surface

• Distance between sensors – 1cm

SHARP IR SENSOR

• Single front mounted 10-80cm

sharp sensor.

• Used to detect the distance from the

box when lifting.

• Analog output to the

microcontroller

POWER AND CONTROL SYSTEMS

• Micro controller –

• Arduino Mega 2560

• Power by main battery via 7808

regulator

• Sensors coupled by a parallel 7805

regulator system

• Motor controller –

• Logic inputs through the 5V logic of

Arduino

• Direct 11.1V power from battery to the

motor side

• Sensor systems –

• Powered by two 7805 regulators

• 0 – 5V outputs sent directly to the

Arduino

• Servo motors –

• Logic inputs directly connected to

Arduino

• Power inputs by main battery via

LM2596 regulator

MOTOR AND MECHANICAL DESIGN

• Driving motors –

• Two 200rpm 1: 50 geared motors

• With encoders – dual wire, 64 state

changes per revolution of motor

• Servo motors

• Three servo motors, 1 metal geared

12kgcm, 2 plastic geared 1.8kgcm

• Arm Design –

SOFTWARE & ALGORITHM• Structured programming concepts

• Hardware control layer

• Line following algorithm – Proportional and derivative

• Turning – Using encoders. Proportional

• Arm control

• Distance calculation of sharp – Proportional

• Middle layer

• Moving from node to node

• Getting close and lifting box

• Top layer

• Grid solving algorithms

• Shortest path finding and instruction generation algorithms

THANK YOU!!!