MobiTronix.pdf

About Us…. The lack of robotics exposure urged to the conceptualization

of Technophilia in 2005.

We are a national leader in Robotics Education and providing

solutions in Robotics and Embedded System Design.

Our courses have been conducted in all the major IIT’s and

NIT’s thus amounting to training more than 25,000 students

across India.

Our Domains…..

Currently Technophilia is largely divided into four domains:

Technophilia Training Centre (for Engineering Students).

Technophilia RoboCubs (for School & Jr. College Students).

Technophilia Embedded Systems (PG Courses for Graduates

and Professionals).

Technophilia Industrial Solutions – Research & Development.

Places We Have Reached• BITS Pilani

• Thapar University Patiala

• ITM Gurgaon

• IIIT Allahabad

• NSIT Delhi

• SASTRA University

• BITS Pilani – Goa

• VIT Pune

• SPCE Mumbai

• DIT Dehradun

• KIIT Bhubaneshwar

• MIT Pune

• SRM University Chennai

• IIT Kanpur• IIT Bombay• IIT Kharagpur• IIT Roorkee• IIT Guwahati• NIT Calicut• NIT Warangal• NIT Durgapur• NIT Srinagar • NIT Silchar• NIT Jamshedpur• Anna University.• MITCOE Pune• KJSCOE

• MSRIT Bangalore• HRIT Ghaziabad• SCTCE Trivandrum• NMIMS Mumbai• IEET baddi• RIET Jaipur• AEC Agra• KLCE Vijayawada• GHRCE Nagpur• LNMIIT Jaipur• HCST Mathura• Hindustan Univ. Chennai• KITE Jaipur• GITAM Univ. Vizag• NERIST Itanagar

ROBOT

ROBOT

What is a ROBOT ?

Define a ROBOT in your own words?

ROBOT

Electro-mechanical device

It find uses in all aspects of our life.

Performs Various tasks

May be human controlled or automated

WHAT IS A ROBOT?

DEFINITION

“A reprogrammable, multifunctional manipulatordesigned to move material, parts, tools, orspecialized devices through various programmedmotions for performing a variety of tasks.”

- Robot Institute of America, 1979

RESEARCH

APPLICATIONS

INDUSTRY

MEDICAL

MILITARY

SPACE EXPLORATION

APPLICATION IN INDUSTRY

Material Handling

A robot is required to palletize soft packages onto a pallet.

Handle with care: Robotic System Packages muffins.

Automotive Welding & Painting

APPLICATION IN MILITARY

Drone Aircrafts

Drone Planes being used by the U.S army to keep a watch on key enemy installations and enemy movement using thermal imaging and image processing

Bomb Disposal

Bomb disposal robots make a dangerous job a little less hazardous. They're designed to search for, locate and neutralize explosive devices.

They are equipped with manipulators, tools and cameras, and controlled through remote.

APPLICATION IN MEDICAL

Telesurgery

The idea of Robots Performing open-heart Surgery sounds like Science fiction but recently this idea has become a reality.

Ex: Da Vinci surgical system

APPLICATION IN RESEARCH &

SPACE EXPLORATION

NASA’s ATHLETE – All Terrain Hex Limbed Extra Terrestrial Explorer

N.A.S.A.’s A.T.H.L.E.T.E.

Exploring other planets

A.S.I.M.O

Advanced Step in Innovative MObility develop by Honda.

Features: Moving objects, postures, gestures, environment recognition, facial recognition etc. First prototype in the year 1986.

Future Ahead: A.S.I.M.O.

TYPES OF ROBOTROBOT

S

MANUAL

WIRED WIRELESS

AUTONOMUS

PRE-

PROGRAMMED

SELF

LEARNING

SEMI-AUTONOMOUS

Basic Parts of a Robot

Mechanical System

Actuators

Power Supply System

Sensors

Controller

Communication System

Basic Parts of a Robot

Actuators : Motors

Mechanical System / Frame : Chassis

Controller : µp/µc/Logic Gates/Switches

Communication System : Wired/Wireless

Power Supply System : AC/DCSensors: CameraMikeObstacleLight

MECHANICAL SYSTEM

Mechanical System

It is the important part of the robot.

It comprises of motor, wheels ,gears and their placement.

It gives a shape to your robot i.e. either vehicle, humanoid type. Etc

It gives locomotion to the robot, generally differential drive is used.

Wheeled Locomotion Systems

Differential drive

Car type drive

Synchronous drive

Wheeled Locomotion Systems:Differential Drive

Wheeled Locomotion Systems:Car Type Drive

Wheeled Locomotion Systems:Synchronous Drive

ACTUATORS

Actuators

They convert the electrical energy into meaningful mechanical work.

Mechanical output can be rotational or translational(straight line).

Generally motors provide rotational motion. Electromagnets ,hydraulics, pneumatic system provide linear motion .

MOTORS PNEUMATIC CYLINDER

HYDRAULIC CYLINDER

Different Types of Motors

• Not used much in roboticsAC Motors

• For controlled rotationStepper Motors

• Finds extensive general useDC Motors

• DC motor with in built feedback & error compensation

Servo Motors

POWER SUPPLY SYSTEM

Power Supply System

Suitable power source is needed to run the robots.

Robots are most suitably powered by batteries.

The weight and energy capacity of the batteries may become the determinative factor of its performance.

Lead Acid Battery.

Nickel Cadmium Battery

Lithium Ion Battery

Nickel Metal Hydride(NiMH)

Zinc Carbon (ZnC).

Different types of Batteries

Voltage regulators produce fixed DC output voltage from variable DC (a small amount of AC on it).

There are two types of voltage regulators

1. Fixed voltage regulators(78xx,79xx)

2. Variable voltage regulators(LM317)

In fixed voltage regulators there is another classification

1. +ve voltage regulators

2. -ve voltage regulators

Voltage Regulator

Voltage Regulator The mainly available 78xx IC's are 7805, 7809, 7812, 7815, 7824. Mostly available -ve voltage regulators are of 79xx family.

7805

7905

AMS1117- 5.0

Positive Voltage Regulator This include 78xx voltage regulators. The most commonly used ones are 7805 and 7812. 7805 gives fixed 5V DC voltage if input voltage is in (7.5V,20V).

> + 7.5 V 5 V

+5 V

0 V

Unregulated DC (with small amount of AC ) Voltage

Regulated Voltage

SENSORS

Sensors

Analogous to human sensory organs: Eyes, ears, nose, tongue, skin.

Provides feedback control.

Help robot to know its surroundings better.

Improves its actions and decision making ability.

Types of Sensors

OPTICAL SENSORS / LIGHT SENSORS

LDR Photo Diode

LED Modulated IR

IR Led Photo Transistor

Camera

SOUND SENSOR

Microphone

Ultrasonic Sensor

Light Emitting Diodes(LED’s)

In a normal forward biased diode, energy is dissipated as heat in the junction, but in LED's energy is dissipated as visible light.

Infra Red LED(IR LED’s)

The major difference between LED and IR LED is that IR LED emits Infrared Radiations, which we cannot see by our naked eyes.

We use IR LED with photo diode as a sensor, as it is less prone to external light effects compared to LDR+LED combination.

Photo Diode

•Type of photo detector.

• Capable of converting light into either current.

Modulated IR Receiver Module

If you want a good distance then you should use 38Khz modulated IR with TSOP1738detector. Use IC555 to generate 38Khz square wave.

Light Dependent Resistor(LDR)

SPECIFICATIONS

•Resistance : 400Ω to 400KΩ

•Normal Resistance variation: 1KΩ to 10KΩ

•Sensitivity: About 3 msec

Transistors:- As a Switch

Digital Optical Sensor

Optical Sensor

• Short range optical detector.

• Reasonably narrow detection

area.

• Range can be increased by

increasing the power to the IR

LEDs or adding more IR LEDs.

Light sensor using LDR & Transistor

SPST (Single Pole Single Throw)

SPDT(Single Pole Double Throw)

DPDT (Double Pole Double Throw)

CONNECTION & WORKING OF DPDT SWITCHES

M

1 6

3

2 5

4

+ -

+ -

M

1 6

3

2 5

4

+ -

+ -

M

1 6

3

2 5

4

M

1 6

3

2 5

4

M

1 6

3

2 5

4

+ -

+ -

M

1 6

3

2 5

4

M

1 6

3

2 5

4

M

1 6

3

2 5

4

+ -

+ -

Relays

A relay is an electro-mechanical operated switch.

Motor Driver Using Transistor

Basic Integrated circuits

In electronics, an integrated circuit is a miniaturized electronic circuit that has been manufactured in the surface of a thinsubstrate of semiconductor material.

Basic Integrated circuits

1) Multiple components (transistors, diodes, etc) built into a small single package.2) P and N type silicon encased in plastic shell with leads.2) Analog ICs deal with varying levels of voltage.3) Digital ICs deal with only high (1) or low (0) states.4) ICs are labeled with part number and manufacturing info.

Identifying an IC

1) All ICs have useful datasheets which can be found by entering the part # into www.digchip.com.2) Datasheets contain package information, electrical information, pin diagram, and hopefully application notes. 3) ICs come in a variety of packages. 4) Surface mount components are extra small. 5) DIP (Dual in line package) have pins spaced .1 inches apart, just like your breadboard. 5) The top of an IC is typically marked with a notch or dot, or both.5) Pins are numbered counterclockwise, starting in the upper left.

Basic Integrated circuits

They often classified by the number of transistors and other electronic components they contain:1. SSI: Up to 100 electronic components per chip2. MSI: From 100 to 3,000 electronic components per chip3. LSI : From 3,000 to 100,000 electronic components per chip4. VLSI : From 100,000 to 1,000,000 electronic components per

chip5. ULSI: More than 1 million electronic components per chip

Motor Driver IC –L293D and L298D

Hands OnSession

MOBITRONIX

Your checklist……………

MOTHERBOARD

Chassis

One

D.C. motor

Two

Upper &

Lower

Plate

Two

Caster wheel

Two

Optical Sensor

Two

Battery Snapper

Two

IR Remote

One

Sound Sensor

One

DTMF Module

One

9V

battery

Three

Wheels

Two

Sensor

Connector

Two

3.5mm

Audio

Connector

One

Screw

Driver

One

Nut, Bolt,

Screws &

Spacers Pouch

One

Mount the motors on the chassis as shown below

Fix wheels to the shaft of the motors

Fix the caster wheel on the lower plate & lower plate to the chassis

Place the Batteries at the upper side of the chassis

Fix the mother board on the upper plate by using the spacers & fix the upper plate on the chassis

MOBITRONIX

Logic Gates

Inverter

AND

OR

XOR

NAND

NOR

XNOR

A logic gate performs a logical operation on one or more logic inputs and produces a single logic output.

Main Mother Board

DIP 1: Address SettingDIP 2: 1234:Decoder to L293D5678: Direct to L293DDIP 3: 1278: VT to L293D3456: NOT Gate to L293D

MOTHER BOARDSimple block diagram

INFRARED RECIEVER

SENSOR(OPTICAL)

SENSOR(OPTICAL)

DECODER

NOT GATE

SWITCH

SWITCH

MOTOR DRIVER

IC

MOTOR

IR TX

DATA-6PIN BERG STRIP

DATA –4 PIN BERG STRIP

MOBITRONIX Motherboard’s Block Diagram

Different types of robot that we can make

•IR-Wireless controlled. •Line follower. •Obstacle avoider. •Object follower. •Photophobic. •Phototropic. •Wall Follower. •Fire fighter. •Mobile phone controlled robot •Sound controlled robot •Time controlled robot

IR-WIRELESS CONTROLLEDROBOT

Transmitter circuit

Switch connections of remote

Remote Configuration

TSOP &Decoder circuit Diagram

Receiver Configuration

Make the switch 1,2,3,4 - ON5,6,7,8 - OFF

Make the switch no 7-ON

Make the switch no 2-ON

Receiver circuit Diagram

Motor Driver ICL293D

1

Input pins

Output pins

EA

EB

I/P1

1

1

Check Enable

Check Enable

1

I/P2

I/P3

I/P4

0

0

0

O/p2

O/p3

O/p4

12V

0

0

0

0

0

0

O/p1M

M

Motor Driver ICL293D

0

Input pins

Output pins

EA

EB

I/P1

1

1

Check Enable

Check Enable

0

I/P2

I/P3

I/P4

0

0

0

O/p2

O/p3

O/p4

0

0

0

0

0

0

0

O/p1M

M

Motor Driver ICL293D

0

Input pins

Output pins

EA

EB

I/P1

1

1

Check Enable

Check Enable

0

I/P2

I/P3

I/P4

1

0

0

O/p2

O/p3

O/p4

0

12V

0

0

1

0

0

O/p1M

M

Motor Driver ICL293D

1

Input pins

Output pins

EA

EB

I/P1

1

1

Check Enable

Check Enable

1

I/P2

I/P3

I/P4

1

0

0

O/p2

O/p3

O/p4

12V

12V

0

0

1

0

0

O/p1M

M

Motor Driver ICL293D

0

Input pins

Output pins

EA

EB

I/P1

1

1

Check Enable

Check Enable

0

I/P2

I/P3

I/P4

1

1

0

O/p2

O/p3

O/p4

0

12V

12V

0

1

0

1

O/p1M

M

LINE FOLLOWER ROBOT

Connecting the sensors to your robot to make it

AUTONOMOUS

Fix the sensors to the plate as shown below

Black Line Follower Configuration

5 & 7 of DIP switch 2 is ON

DIP switch 3 OFF

Connect the 2 line sensor at D1 and D3 of 6pin berg stick

Line Follower Connection

Line Sensor1

Line Sensor2

OBSTACLE AVOIDER ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”

Left Obstacle sensors on EN1 Right Obstacle Sensor on EN2

OBSTACLE AVOIDER ROBOT

OBSTACLE FOLLOWER ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”

Right Obstacle sensors on EN1 Left Obstacle Sensor on EN2

PHOTOPHOBIC ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”

Left Obstacle sensors on EN1 Right Obstacle Sensor on EN2

PHOTOTROPIC ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”

Right Obstacle sensors on EN1 Left Obstacle Sensor on EN2

MOBILE PHONE CONTROLLEDROBOT

DTMF Cont.

1209 Hz 1336 Hz 1477 Hz

697 Hz 1 2 3

770 Hz 4 5 6

852 Hz 7 8 9

941 Hz * 0 #

The DTMF Keypad

APPLICATION OF DTMF

DTMF Module

Insert the D0-D3 of DTMF Module to inv. Input data pin

(D0-D3).

Make the Switch 3(DIP) 3,4,5,6 - ON

MOBILE PHONE CONTROLLEDROBOT

Step 1: Keep all switches of DIP switch 1 and DIP switch 2 at OFF position.

Step 2: Keep 6 & 4 0f DIP switch 3 ON.

Step 3: Connect the two pins of the sound sensor on the D0’ and D2’ pins of the 4-pin berg strip

SENSE- Anti clockwise – high sensitivity

Clockwise – low sensitivity

TIME – Anti clockwise – less time

Clockwise – more time

SOUND CONTROLLED ROBOT

TIME CONTROLLED ROBOT

Steps to be followed Step 1: Connect the sound sensor on the 2 pin berg strip of the

main board.

Step 2: Switch ON the pins 5 and 7 of DIP Switch – 2 while switch all the other pins OFF.

Step 3: Switch ON the Pins 1 and 8 of the DIP Switch - 3.

Step 4: Adjust the TIME potentiometer of the sound sensor so as to fix a certain time for the motors to stop or keep moving.

FIRE FIGHTING ROBOT

Make switch no 8 -ON

Make switch no 1-ON

SWITCHES ACTION

5,7 ON

DIP SWITCH 3

DIP SWITCH 2

Connect one line sensor at EN of 2 pin Berg stick

Fire Fighting robot

ANY QUESTIONS ??

info@technophilia.co.in

tapan@technophilia.co.in

Call On: 022-42461000

(10AM to 6PM)

Contact Details: