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NUR AZIM FAHADA AHMAD

10

TH FEBRUARY 1988

ARTIFICIAL ANT ROBOT

2010/2011

AP DR. MOHAMAD NOH B. AHMAD

"I hereby declare that I had read this thesis entitled Artificial Ant Robot and in my

opinion, this thesis is sufficient in term of quality and scope for the purpose of awarding

a degree of Bachelor of Engineering (Electrical-Mechatronics)".

Signature :______________________________

Name : AP DR. MOHAMAD NOH B. AHMAD

Date : 23th

MAY 2011

i

ARTIFICIAL ANT ROBOT

NUR AZIM FAHADA AHMAD

A thesis submitted in partial fulfillment

Of the requirements for the award of degree of

Bachelor of Engineering (Electric - Mechatronic)

Faculty of Electrical Engineering

University Teknologi Malaysia

MAY 2011

ii

I declare that this thesis entitle Artificial Ant Robot is the result of my own research

except as cited in the references. The thesis has not been accepted for any degree and it

not concurrently submitted in candidate of any other degree.

Signature : _________________

Name : NUR AZIM FAHADA BIN AHMAD

Date : 23th

MAY 2011

iii

This thesis is dedicated to

My beloved mother and father,

To my family members, lecturers and friends,

for their guidance, encouragement and support.

iv

ACKNOWLEDGEMENT

First of all, I would like to thanks to Almighty Allah S.W.T for his willingness

and His blessing for me to complete this project. In this opportunity, I also would like to

extend my sincerest gratitude to my supervisor. Assoc. Prof. Dr. Mohamad Noh Bin

Ahmad who has determinedly and persistently assisted me during the whole course of

this project. He has been good mentor that continuously overloaded with ideas to

improve my project.

I want to thanks to all my family members, especially to my parents, Ahmad bin

Sarju and Siti Jariah Bt Jazuli for their love, morale support and prayers along my study.

Their idea and supports catalyzed me to perform well until the end of the project.

Lastly, I would like to thanks to my entire course mate who has been share all the

knowledges and ideas during my entire journey of education in UTM.

v

ABSTRACT

The main purpose of this project is to design and developed a legged robot that

can move autonomously. The legged robot also has much ability better than the wheeled

robot especially the capabilities to move in various surface and situation. These robots

have the ability to mimic as the ant. The use of the four legged robot is due to its ability

and stability. But, it required more actuator to move every joint. These also increase the

cost, the robot weight and the power consumption. Besides, the robot programming

becomes more complicated. This Artificial ant robot brain is using the PIC16F876A

microcontroller. The source code is assembled using the MicroC Pro. Three servo

motors and 2 pair of distance sensors are use for the robot.

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ABSTRAK

Tujuan utama dari projek ini adalah untuk membina sebuah robot berkaki yang

dapat menggantikan robot beroda supaya dapat melakukan pelbagai tugas. Robot

berkaki juga mempunyai pelbagai kemampuan yang lebih baik dari robot beroda

terutama kemampuan untuk bergerak dalam pelbagai permukaan dan situasi. Robot ini

memiliki kemampuan untuk meniru sebagai semut. Penggunaan robot berkaki empat

adalah kerana kemampuan dan kestabilan. Tapi, itu diperlukan aktuator lebih untuk

setiap gerakan sendi. Ini juga mengakibatkan peningkatkan kos, berat robot dan

pengambilan kuasa. Selain itu, pengaturcaraan robot menjadi lebih rumit. Ini semut

buatan otak robot menggunakan mikrokontroler PIC16F876A. Kod sumber di

dilancarkan/diprogramkan menggunakan MicroC Pro. Tiga motor servo dan 2 pasang

Infra red sensor digunakan untuk robot ini.

vii

TABLE OF CONTENT

CHAPTER TITLE PAGE

Title page i

Student admittance page ii

Dedication iii

Acknowledgement iv

Abstract v

Abstrak vi

Table of Content vii

List of Figures x

List of Table xii

List of Abbreviation xiii

1 INTRODUCTION 1

1.1 Problem Statement 1

1.2Overview of Project 2

1.3 Objective 2

1.4 The Ant Structure 3

2 LITERATURE REVIEW 7

2.0 Introduction

2.1 Master Slave Behaviour Spider Robot 8

2.2 An Autonomous Four-Legged Robot 9

2.3 Utm Spiders Robot 10

viii

3 METHODOLOGY 13

3.0 Introduction 13

3.1 The Flow of the Project 13

3.2 Description of the Overall Process 14

3.2 Stage 1 15

3.2.1 Conceptualization 15

3.2.2 Prototyping 15

3.2.3 Sourcing for the component 16

3.2.4 Fabrication of the mechanical structure 16

3.3 Stage 2 16

3.3.1 Design and implementation of the

electrical circuit.

16

3.4 Stage 3 17

3.4.1 Software Programming 17

3.4.2 Test, Modification and Fine Tuning 17

4 ROBOT DESIGN 18

4.1 Mechanical Design 18

4.1.1 The Robot Criteria 19

4.1.2 Legged Robot 20

4.1.3 Main Problem in Developing the Artificial

Ant Robot

21

4.1.4 Material Selection 21

4.1.5 Main Structure 22

4.1.6 Legs 22

4.1.7 Gripper 23

4.2 The Electronic Design 24

4.2.1 The Main Circuit Board 24

4.2.2 Voltage Regulator Circuit 25

4.2.3 Current Booster Circuit 26

ix

4.2.4 Microcontroller 26

4.2.5 Transducers 27

4.2.5.1 Servo Motors 27

4.2.5.2 Sensors 30

4.2.6 The Power Supply 32

4.3 Software Design 33

4.3.1 Microchip PicKit 35

5 RESULT AND ANALYSIS 37

5.1 Robot Movement 38

5.2 Problem and discussion 39

6 CONCLUSION AND RECOMMENDATION 41

6.1 Conclusion 41

6.2 Limitations 41

6.3 Recommendations 42

BIBLIOGRAPHY 43

APPENDIX 44

x

LIST OF FIGURES

Figure No. Title Page

1.1

Ants Physicals

3

1.2 Front View Of Ant 4

1.3 Ants Leg 4

1.4 The Ants Head 5

1.5 The Mouth Of Ant 5

2.1 Master Slave Behavioural Spider Robot 8

2.2 The Slave Transmitting Command 9

2.3 Illustration Of The Autonomous Four-Legged Robot 10

2.4 An Autonomous Four-Legged Robot 10

2.5 Utms Four Legged Spider Robot 11

3.1 Flow Chart Of All Process 14

4.1 Mechanical Structure Design Using Google Sketch 19

4.2 The Main Structure 21

4.3 The Gripper Is Closed 23

4.4 The Gripper Is Open 23

4.5 The Main Circuit With The PIC16F876A 24

4.6 9V To 6V Voltage Regulator 25

4.7 9V To5v Voltage Regulator 25

4.8 Current Booster Circuit 26

4.9 Pic16f876a Diagram 27

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4.10 The Servo Motor 28

4.11 The Characteristic Of The Rotation 29

4.12 The LM324 Comparator 30

4.13 Sample Of The Sensor Circuit 31

4.14 IR Sensor Signal Tranceive 32

4.15 IR Sensor Signal Reflected 32

4.16 Energizer 9 Volt Battery 33

4.17 The programming Flow Chart 34

4.18 Programming using the MicroC Pro 35

4.19 PicKit Tools. 35

4.20 The software for the PicKit 36

5.1 Artificial Ant Robot Side View 37

5.2 Right walking sequence 38

5.3 Left walking sequence 38

xii

LIST OF TABLE

Table No. Title Page

4.1

Servo Specification

28

4.2 The Robot Movement 34

xiii

LIST OF ABBREVIATION

I - Current

V - Voltage

J - Current Density

R - Resistor

IR - Infra Red

IC - Integrated Circuit

PIC - Programmable Integrated Circuit

W - Weight

H - Height

1

CHAPTER 1

INTRODUCTION

1.1 Problem Statement

Mobile robots are becoming a common sight nowadays. They can be seen

deployed in various situations to perform many different tasks. There are two major

types of mobile robots the wheeled and the legged mobile robots.

Wheeled robots are more common as they are easier to design and build. The

cost of building a wheeled robot is generally low. However, wheeled robots are more

suited to application on fairly even terrains as they are less adept when traversing

uneven or rough terrains.

Legged robots, on the other hand, are less common, although the interests in

them have been growing at a frantic pace over the past few years. Legged robots are

more difficult to design and built as compared to the wheeled robot. This is due the

complexity in designing the actuators and joints. These two factors are crucial in

determining the success of a design. The cost of building a legged robot is also generally

quite high. However, the legged robot has a distinct advantage over the wheeled robot.

They are more capable of traversing rough and uneven terrains.

2

1.2 Overview of Project

Artificial Ant Robot has behavior as ant robots. The robot is categorizes an

autonomous four legged insect robot. This robot can move using only three servo motors

as the engine for this robot. This robot is controlled by a microcontroller type

PIC16F876A as a brain of the robot and supported by integrated circuit as a driver with

electronic components. This Artificial Ant robot is autonomous robot that will be

equipped with several sensors to make it move as desired.

This robot is also equipped with a mouths gripper that functions as the tool to

grasps the small objects that disturb on his ways.

1.3 Objective

The main objective of this project is to build four legged insects robots that will

be actuated by three servos motors. This robot is also expected to be able to move

forward and backward and also overcoming barriers. The two servo motors will actuate

for the two pair of legs (4 legs) and the other one is for actuating for the gripper. The

gripper is assigned to show the angry emotion when something disturb on the ants

track. Generally, the objective can be divided into three parts, robots structural

construction (hardware), robots communication and robotic control system construction

(software).

For the step of construction and fabrication of robot structure, the main intention

is to make the robot move smoothly and stable like a real ants movement in all condition

and possesses terrific strength to be moved freely.

The construction step involves the skills of attaching the components onto

circuits, programming the micro controller and installation of sensors to the robot to

drive it into specific movement.

3

The final step is to combine both software and hardware specifications and

manipulates controlling system to control the movement of the Artificial Ant Robot.

1.4 The Ant Structure

Most ants are between 2mm and 10mm long. Some ants however, are mere

0.7mm and other nearly 3 cm long. Like other insects, ants have bodies that contain

three major segments: the head, the thorax (alitrunk), and the abdomen (gaster). Figure

1.41 shows the entire ants physical.

Figure 1.1: Ants Physicals

In all ants, at the back of head is an opening through which nerves, the beginning

part of the digestive tract and the blood pass into alitrunk.

4

Figure 1.2: Front view of Ant

The middle part of the body bears three pair of joined legs as shown in Figure

1.42, each of which ends in a claw. The legs are use not only for walking or running but

also for more dexterous tasks, such as handling food. Each of ants front legs contains

two combs that ant uses to clean its other legs and the antennae as shown in Figure 1.43.

Figure 1.3: Ants Leg

In males and young queens, the alitrunk contains two pairs of wings. Larger pair

of wings is on the front and a smaller on the rear. During flight, the hind pair of wings is

hooked to the rear edge of the front pair so that the two pairs function as a single unit.

Behind the alitrunk is the narrow petiole, a one or two segmented section that

form what appears like waist. The slender body part helps ants to bend while passing

through twisting underground tunnels.

5

The hindmost body section of the ant, called the gaster. It is contains the heart,

the most of the digestive system, the excretory system and the reproductive system. The

segments of the gaster are from a series of rings of different sizes, with the largest ring

in the middle.

The head of the ants consist of the antennae, mouth (gripper), eye and brain as

shown in Figure 1.4 and Figure 1.5. The brain of the ant will process information from

various sense organs via a nerves cord that runs along the lower side of the body. The

ants use the mouths grippe to grasp the solid food or other particle to be eaten or

relocate things. Once the food inside the mouth, the solid food enters into the chamber

will beneath the mouth opening where the mouth filter prevent solid particles from

entering the digestive tract.

Figure 1.4: The Ants Head

Figure 1.5: The Mouth of Ant

6

All the part of the ant body has their own function to their own body. The

autonomous Artificial Ant Robot is designed to be the autonomous robot that has the

function and movement merely same to the real ant. The difference of theconstruction of

the robot from the original ant physical are only use two pair of legs and there is no

wings.

7

CHAPTER 2

LITERATURE REVIEW

2.0 Introduction

Recently, there are many robot projects that are inspired from the biological

insect structure and functions. There also many similar and relevant projects that can be

found and search across the internet from the other individual projects from many

universities and the projects from many researches group across the world.

In this chapter, the discussion will be made on the quadruped robot which is

relevant to the project objectives. There are few approaches such as the bio-mimetic

approach and the functional similarity approach to build the biological inspired robot.

The basic method of designing the Artificial Ant robot is the robot will be build

to imitate the function of the biological creature and not necessarily mimicking the

physical appearances. Then, by using the functional similarity approach in building the

robot, it may help to eliminate the need for extra gears, motors and bearings which

might complicate in the construction of robots and result in high costs, weight and

premature failure (Bar-Cohen 2002).

Nowadays, there are many project carried out that can be found in many

universities that search across the internet. Some of them are listed below:

8

2.1 Master Slave Behavior Spider Robots

Figure 2.1 shows that the compact robot designs that is improved from the

UTMs Spiders Robots. Basically, for Master-Slave spider robot design refer to this

existing robot for mechanical design. This robot operated with two servo motors and

simple circuit design. This legged robot able to walk onto inflated surface, grumble and

grassed.

Figure 2.1: Master Slave Behavioral Spider Robot

The Master Slave Behavioral Robot has two robot acted as the master robot and

the follower robot. The masters robot transmits the signal to the follower by using the

transmitter.

9

Figure 2.2: The Slave Transmitting Command

This Four Legged Spider Robot is very light in weight and the design is unique.

Thats why the researcher made a selection to choose this design for Artificial Ant

Robot. The legs robot is specializes to function like behavioral spiders robot.

Robot Specifications:

Motor : Futaba S3003, 7.3V maximum voltage with

interlock

Power Source : 9V batteries

Sensors : Infra Red sensors

PIC for Sensor : LM 324

Microcontroller : PIC16F627 by Microchip

PIC for Transmitter @ receiver : PT2262 and BX315A

2.2 An Autonomous Four-Legged Robot

This project objective is to design a legged robot at a minimum cost but at the

same time it without affecting the robot capability. Figure 2.21 shows that the

illustration of the robot.

10

Figure 2.3: Illustration of the Autonomous Four-Legged Robot

The scope of the project is to design a mechanical structure with dimension

approximately 18 cm length, 16 cm width and 7 cm height.

The controller which consists of PIC18F452 microcontroller and appropriate

electronic circuitry will be feed input from two analog sensors (front) and drive the three

servos motors as the actuators based on specific command.

Figure 2.4 : An Autonomous Four-Legged Robot

11

Finally, this project is focusing on the programming aspect to control the robots

movement. The suitable program arrangement needs to be programmed to ensure

smooth movement of the robot and able to respond sensitively to sensor.

2.3 UTM Spiders Robot

This robot as shown in figure 2.31 is a compact and simple design. The robot is

actuated by two servo motors and simple circuit design. Basically, for Artificial Ant

Robot design refer to this existing robot for the mechanical structures design.

Figure 2.5: UTMs Four Legged Spider Robot

This robot as shown in figure 2.31 is a compact and simple design. The robot is

actuated by two servo motors and simple circuit design. Basically, for Artificial Ant

Robot design refer to this existing robot for the mechanical structures design.

This robot movement mechanism is also very simple and works efficiently. This

legged robot also able to walk onto inflated surface, grumble and grasses. The Four

Spider Robot very light in weight and the that is why the researcher made a selection to

use this design for Artificial Ant Robot.

12

Robot Specifications:

Motor : Futaba S3003, 7.3V maximum voltage with interlock

Power Source : 9V Duracell batteries

Sensors : Infra Red sensors

PIC for Sensor : LM 324

Microcontroller : PIC16F627 by Microchip

13

CHAPTER 3

METHODOLOGY

3.0 Introduction

Generally, building an autonomous robot required knowledge from various

aspects, discipline and studies. Thus a systematic approach is crucial in the development

process. This chapter describe the development methodology and guidelines in

designing the quadruped robot that will emulate the functional similar to the objectives.

All the process can be divided to three main categories which is mechanical design, the

software design and the circuitries design. Later, both design will be integrated together

to build up the entire system.

3.1 The Flow of the Project

The entire project plans are split into three steps which make it easier, systematic

and manageable to be implemented. The project will run with splitting sections because

it will have different role and process. The stage 1 will cover about designing the robot

fabrication of the mechanical system while the second stage involves the design and

implementation of the electrical circuit. The stage three involves the software

programming, test and modification of the robots for enhancement.

14

The project was carried out for the two semesters and the implementation of the

project for the stage 1 is for the semester 1 and the stage 2 and stage 3 for the semester 2.

The flow chart in Figure 3.1 below shows the entire plan of the project.

Figure 3.1: Flow Chart of All Process

15

3.2 Stage 1

This stage will involve the conceptualization, prototyping, sourcing components

and the fabrication of the mechanical structure.

3.2.1 Conceptualization

From the objective that we have create for the project, from the various of robot

design had been analyze with their own specific functions to get the idea how to design

the robot with the simples mechanism can optimize the whole operation of the robot.

The analysis is base on the advantages of the robot design and the mechanism of the

robot. The choice of the design is choose based on the practicality, cost and capability.

3.2.2 Prototyping

The prototyping process started with the sketching all the mechanism for the

entire robot with the functioning part. Then, we will design and construct the body of the

robot with the plastic sheet, bolt and nut, Styrofoam and the aluminum sheet as we

sketch earlier. The bolt and nut are used to enable the rotational motion of the robot. The

prototype also used to identify the best cutting size and placement of the entire

component.

16

3.2.3 Sourcing for the Component

Firstly, the information of the entire component from various kinds of type is

collected. Secondly, the most suitable component is selected based on the capability and

practicality of the component functions to fulfill the objectives.

3.2.4 Fabrication of the Mechanical Structure

Firstly, the design of the mechanical structure is sketched by using the AutoCad

2007 and Google Sketch for two and three dimensions. We start construct the robot with

the frame of the body and the legs by using the aluminum plates. Motorcycle rims stick

is used to create the legs according the dimension properly. Then, the body of the robot

is tested for the durability. Lastly, the body must be modified and change to get the exact

function.

3.3 Stage 2

The stage 2 involves design and implementation of the electric circuit.

3.3.1 Design and implementation of the electrical circuit

Firstly, the electric circuits of the robot component are drawn using the Proteus

7. The electric circuit is split to three parts. Firstly, the main board circuit is connected to

the power supply circuit (voltage regulator), the Infra Red sensor circuit and the all

component that connect without the interface with other addition electrical interface.

The second and the third circuits is the power supply and Infra Red circuit. When all the

component on the circuit are purchased, we need to connect all the component in the

17

board in simples way and only small size of board are required to make the robot looks

simple. When we have completed the circuit, we must test the circuit to make

modification when the problem detected.

3.4 Stage 3

This stage involves software programming, test, modification and fine tuning.

3.4.1 Software Programming

The first step is the program that we want to create is identified and listed. Then

the flow of the program is drawn. After that, the program is written as the flow that we

have been created and the program is rechecking back after finish. Then the program

assembled using Micro-C Pro and the problem or error that arises must be refining back.

Lastly the program is tested with the rob`ot and problem that arises must be identified

and corrected.

3.4.2 Test, Modification and Fine Tuning

The robot now is given a trial run testing its gait. Modification must be carried

out on its gait when necessary. Then the front and back leg are modified and tested with

the various configurations to find the most stable and durable. After that, different

material and design of the feet padding of the robot are tested and the most give smooth

and suitable movement is chosen. Lastly, all the electrical connection and mechanical

structure were checked and tightened.

18

CHAPTER 4

ROBOT DESIGN

4.0 Introduction

This chapter discusses the design of the mechanical structures, electronic

circuitries and micro controller programming of the autonomous Artificial Ant Robot.

All the main components must be carried out nicely for developing the robot.

4.1 Mechanical Design

The mechanical design is the crucial that should be focused because the

mechanical structure will enable the robot to move and operate as we want. The legged

robot is also more complicated and difficult to design in order to achieve the objective of

the project. The good combination of programming and suitable mechanical structure

design, the ant robot can move forward, backward, turn left and turn right easily and

smooth. It also will give the best result for the movement of the ant robot in the aspect of

the speed, strength and distance. All the movements are inspired from the movement of

the ant, spider and cockroaches.

19

Figure 4.1: Mechanical Structure design using Google Sketch

4.1.1 The Robot Criteria

The hardware design of the Autonomous Artificial Ant Robot is designed with

the scope that is:

The robot is expected to have walking capabilities forward, backward,

turning right and turning left.

Uses 3 servo motors- 2 pair of leg and mouth gripper.

Use 2 set of Infra Red sensor.

The robot's brain is based on a PIC microcontroller, connected with 3 set of

servo, it will operates upon receiving command signal from the switch and

I/R sensor.

An autonomous robot

Easy to carry

There are many references are collected and used as a guidance for this project.

Many information had been gathered across the university through the internet

especially information regarding to robots structure and the mechanism. Among the

20

existing robot designed those have been looked into for this project is Four Legged

Spider Robot, Master Slave Behavior Spider Robot and An Autonomous Four-Legged

Robot. Artificial Ant Robot moves using only three motors. Below are the robots

features that may exist in other type of robots:

1) Using only three motors, ease of programming to enables robot to move in any

directions.

2) Less in weight, reduce the power needed by the robot.

3) Wide and low gravity centre, ease to spot the stability point in static or moving.

Basic structure of robot was built using metal rods (motorcycle rims stick) as

legs, pieces of aluminum iron as the spine and servo motors functioning as the body.

Apart of that, screws and aluminum pieces are used to hold the circuits on the robot.

4.1.2 Legged Robot

The main purpose creation of the legged robot is to overcome the problem faced

by the wheeled robot. Nowadays, there are various types of the legged robot become

popular from wheeled robot because of its capabilities even it is more complicated and

the cost not effective.

Most existing mobile robots rely on wheels for locomotion. This is the best

solution for traversing relatively even surfaces, but wheeled robots have difficulties

dealing with obstacles which legged robot can simply step over. On the other hand,

wheeled robots are inherently stable, since the wheels are intended to remain on the

ground. A legged robot must shift its center of gravity as it walk in order to maintain

stability. In addition, the driving mechanism for a wheeled vehicle can be relatively

simple and cheap to construct, while the leg mechanism requires complicated linkages

21

and multiple motors, as well as sensors to determine the location of the leg relative to the

ground. The Figure 4.2 below shows the basic mechanical structure.

Figure 4.2: The Main Structure

4.1.3 Main Problem in Developing the Artificial Ant Robot

There are many problem encountered during the developing the Artificial Ant

Robot. Firstly, the challenge when getting the right posture of the ant robot to ensure the

static stability and dynamic while moving. Secondly, the challenge when creating the

forward movement, backward, turns right and turn left. Thirdly, the creation of the robot

which is too heavy from that we had expected. Lastly, the robot needs extra power to

supply to all the 3 servos and some modification must be done to the power supply.

4.1.4 Material Selection

The material selection is also the crucial part in the designing the robot. A good

material selection can affect the success of this project. Therefore, to build the small

22

robot, the material is selected based on the weight, strength, flexibility and ease to

reshape. This is including the selecting the suitable recycled material from all sources.

4.1.5 Main Structure

The main structure of the robot is made from the aluminum sheet that had been

cut and bends to the dimension required. The main structure of the robot consists of the

body frame and the head frame.

The main function of the main structure is to hold all the body part and as the

platform of the electrical circuit. Therefore, it is very important that the main structure is

constructed from material that is robust so that it can withstand the weight of the whole

robot as well as the abuse that the robot might experience during its operation. The

selection and design of the main structure also must be light and suitable enough to

reduce the stress to the servo motors. Less weight can make the robot more stable and

easy to move.

4.1.6 Legs

The criteria for the material for the robots legs are that it must be strong and

rigid enough to withstand the stress that is subjected to it during the operation of the

robot. A rigid leg will also ensure that the maximum power transfer is achieved so that

the robot will move efficiently. The legs part must be easy to form. The items that were

identified for possible use are the coated metal from the iron hanger and the spoke of the

motorcycle rim. The characteristic of the both of them is very strong and firm. After all,

we chose the spoke from motorcycle rim as the legs because it easier to assemble.

23

4.1.7 Gripper

The criteria for the gripper of the artificial Ant Robot are must be strong, very

light and easy to reshape or bend. The gripper inspired from the biological gripper that

can hold and grip small things. The gripper also must be firm or rigid when it combines

with the head of the ant robot. For the 1st trial, we use the aluminum sheet (1mm) make

gripper. But there is to heavy even the gripper can move properly. The material that we

chose is the Perspex (like plastic) that can be reshape easier by using knife, small saw

and bend using heat. All the join that make the mechanism can move are by using the

bolt and nut. We also make sure that the head and the gripper of the Artificial Ant robot

light enough to avoid from disturbing the motion of the ant. Figure 4.3 and Figure 4.4

shows the gripper mechanism.

Figure 4.3: The gripper is closed

Figure 4.3: The gripper is open

24

4.2 The Electronic Design

The electronic design of the robot arm involves the design of the main controller

circuit board. This main controller circuit board will control the entire operation of the

Artificial Ant Robot. Besides main controller board, the voltage regulator 5V for PIC,

the voltage regulator 6V with current booster for Servomotors and the circuit of the Infra

Red sensors with the comparator are designed.

4.2.1 Main Circuit Board

The main circuit board that we design are connected with the infra red sensor

circuit, the voltage regulator circuit (9V to 6V and 9V to 5V), the servos motors, the

indicator of led and the distance sensors.

Figure 4.5: The main circuit with the PIC16F876A

25

4.2.2 Voltage Regulator Circuit

The artificial Ant robot needs the voltage regulator to supply power of 5 volt to

the main circuit and 6 volt to the servos motors. The needs of the voltage regulator are to

reduce the voltage value and make the current supply more stable. When the voltage

source from any kinds of source is regulated, the voltage supply are more stable and safe

to be used for whole circuitries. Figure 4.6 and Figure 4.7 shows the circuits of both

voltage regulators.

Figure 4.6: 9V to 6V Voltage Regulator

Figure 4.7: 9V to5V Voltage Regulator

26

4.2.3 Current Booster Circuit

Current boaster is use in this project since the servo need constant 1Ampere

current. LM 7806 in the voltage regulator circuit limits the current to only 0.1Ampere.

Thus current booster must be use for this project in order to get the desired current

supply. In earlier trouble shooting part, the robot didnt work properly because the

current supply is too low. Thus, the current booster circuit had been installed to

overcome the problem as shown in figure

Figure 4.8: Current Booster Circuit

4.2.4 Microcontroller

For the main controller circuit board, the PIC16F876A is used as the processor

for the Artificial Ant Robot. There is where all the program sequences will be stored and

the robot executes the sequences when it is called. It is a device that can be

reprogrammed because it uses flash read-only memory for program storage. It has a total

of 28 pins and has 4 input/output ports. The 3 input/output ports are Port A, Port B and

Port C. The project select the PIC16F876A because it has the ADC converter and have

enough I/O pin for whole circuit diagram. It is small enough to locate on the main board.

27

Figure 4.9: PIC16F876A Diagram

4.2.5 Transducers

A transducer is a device that converts one type of energy to another type of

energy. The conversion can be from electrical, electro-mechanical, electromagnetic,

photonic and photovoltaic or any form of energy to another form of energy. Any devices

that convert energy also can be categorized as transducer. The transducer that we use in

this project is Infra red sensor, distance sensors and the servos motors.

4.2.5.1 Servo Motors

The movement of the robot arm totally depends on the servomotors. Therefore,

the right selection of servomotors is vital in order for the robot arm to perform the

movement of sequences smoothly. For this robot arm, a servomotor labelled as Cytron

C55S & C40S was chosen to be used. It is produced by Cytron Technologies. Figure 3.9

28

shows the Cytron C55S servomotor. This servomotor rotates in half circle of 0 degree to

180 degrees.

Figure 4.10: The Servo Motor

Table 4.1 below shows the specification of the Cytron C55S and C40S

servomotor. This is affordable enough for the robot arm to work strongly.

Table 4.1: Servo Specification

Model C55S C40S

Weight (g) 55 38

4.8V Speed/60 0.22 0.19

Torque (kg-cm) 9.00 6.00

6.0V Speed/60 0.20 0.16

Torque (kg-cm) 11.00 7.00

7.2V Speed/60 0.17 -

Torque (kg-cm) 13.00 -

29

All of the servomotors used in this project were joined to the link by using the

servo horn. This servo horn was provided together with the servomotor. It mounts firmly

the connection and this helps in moving the links to the position desired.

The tuning for the rotation of the servo motor can be done using the

programming and the power impulse that we give to the servos. The standard duty cycle

for the power pulse of the servo is 20 mili second. The degree and the torque are

manipulated using the programming on the power supply from the microcontroller.

Figure 4.11: The characteristic of the rotation

30

4.2.5.2 Sensors

Sensor Circuit is a circuit that received analog signals from sensor and

transforms it into digital signals to be sent to PIC16F876A. Integrated Circuit LM324 as

shown in Figure 4.12 is used to transform analog signals to digital signals. Analog

signals are transformed to digital signals to distinguish the input voltage from sensor

with reference voltage LM324. If the input voltage is smaller than reference voltage,

output 0 will be sent to microcontroller while bigger input voltage will provides output 1

to microcontroller.

Sensor used is an infrared type. Transmitter and receiver are combined to

produce better responses towards objects or obstacles. Transmitter will send infrared

signals, and receiver receives the signals when it reflects on objects or obstacles.

Figure 4.12: The LM324 Comparator

Infra-Red sensors consist of a pair of transmitter and receiver as shown in Figure

4.13. A pair of infra-red sensor will be emitted by the sensor, reflected by the target and

received by the sensor. Infra-red sensor can be classified into two categories, which are

Reflective Infra-red Sensor and Transmissive Infra-red Sensor. Both categories contain

31

an infra-red photodiode to emit the light and an infra-red detector to sense (absorb) the

emitted light. The difference lies in the lights penetration path.

Figure 4.13: Sample of the Sensor Circuit

The reflective sensor function to emit light (beam signal) strikes the target and

reflected back to the detector. It is normally used as presence sensing. With the

transmissive detector, the photodiode are pointed at one another by face to face

arrangement, and the target interrupts the beam path.

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Figure 4.14: IR Sensor Signal Tranceive

Figure 4.15: IR Sensor Signal Reflected

4.2.6 The Power Supply

In this project, I will use the Energizer 9 Volt battery as the main source

of the robot. This battery was selected because it small, light and can supply enough

current for the servos and main circuit. The battery is rechargeable and it can give move

current supply than the other type of compact battery.

33

Figure 4.16: Energizer 9 Volt Battery

4.3 Software Design

Figure 4.17: The programming Flow Chart

34

Figure 4.17 shows that the application flowchart that has been use to guided the

project. First, the robot is switched on. Then, there is two push buttons that function as

the buttons selector for number of function and the other is button for execution. Then

the robot will operate depend on its function selection until the push for another time on

reset button to execute another function or stop.

The function that has been build is in Table 4.2:

Table 4.2: The Robot Movement

NO. of

Functions

Functions

1 Move straight forward

2 Move straight forward until the two

sensor detect obstacle, move backward.

3 The robot avoid the obstacle

4 The robot move in pattern 1

Several softwares had been used for reason such programming the

microcontroller and uploading the program into a microcontroller. The software

selection is depends on it capability and the simples to be operated. The software that we

use is MicroC Pro with the simple c programming.

35

Figure 4.18: Programming using the MicroC Pro

4.3.1 Microchip PicKit

Once the source code file has been completed and built successfully using the

compiler, the file with extension of the hex file will exist in the same folder as directory.

Next, to load the .hex file into the robots microcontroller the PICkit was used.

Figure 4.19: PicKit Tools.

36

Figure 4.20: The software for the PicKit

The microcontroller must be connected to the laptops USB using USB ICSP

programmer in order to upload the hex file into the microcontroller. The USB ICSP

Programmer then connected to the 10-pin straight box that prepared on the main board

of circuit main controller.

Once connected and launched the PICkit 2 program successfully, the displayed

window will been found by the programmer and software. Then, import the extension

.hex file from the specified directory and write the file. The chosen .hex file will

automatically loaded to the microcontroller. show up and the status box will state

device found which mean that the PIC16F876A have.

37

CHAPTER 5

RESULT AND ANALYSIS

The Figure 5.0 below shows the result of the Artificial Ant Robot that has been

finished. Most of the objective of the project had been achieved. The robot can move in

various type of movement such as move forward, backward, turn right, turn left and also

open and close their gripper.

Figure 5.1: Artificial Ant Robot Side View

This is can be done because of the combination of the three part of the robot

mechanism are builds according the suitable combination. It go through a long period of

fine tuning to get the exact proper movement. The Figure 5.2 and Figure 5.3 show the

left and right walking sequences.

38

Figure 5.2: Right walking sequence

Figure5.3: Left walking sequence

5.1 Robot Movement

The movements of the robot that we create are the combination of the simples

movement like figure above. The front legs and the back legs must move simultaneously

to give enough torque to the robot. The combination of the movement is for the left

sequence movement is the front servo must turns 450 degree while the back servo also

turns 450 degree (because the installment is opposite) with the different time execution

can be varies from 0 s to 0.2 s of the front leg and back legs. Then, the combination of

the movement is for the right sequence movement is the front servo turns 1350 degree

and the back servo also turn1350 degree with the different time execution can be varies

39

from 0 s to 0.2 s of the front leg and back legs. The combination of the two simple

movements will result 1 step of forward. Then the straight forward movement can be

programmed with the repetition of the 1 step forward movement.

The backward movement also can be implemented with the method same like the

forward movement but the back legs movement led the front leg movement. The

different time for the execution is between 0 s to 0.2 second.

The side movement also can be implemented on this robot by manipulating the

back legs degree rotation. The rotation of the back legs is bigger on the left side to make

the robot turn to the right side and vice versa. The rotation needs at least 8 steps to make

the turning movement smooth.

The gripper movements only use the servo to turn on 900 degree to make the

gripper close and 1800 degree to make the gripper open. The movement of the gripper

show the ant robot in angry mode.

5.2 Problem and discussion

There are several minor problem occur during the manufacturing process of this

robot. First, the servo motors do not have constant current. This can be detected when

the servo motor at the body of the robot cannot push the robot upward. The problem is

because, voltage regulator, LM7806 in voltage regulator circuit limit the output current

only to 0.1A. Servo motors need at least 1A to maximize its potential. The problem is

solved by using current boaster circuit. Current boaster make is one by making simple

adjustment at voltage regulator circuit by adding transistor TIP2933 and few resistors

and capacitors.

40

The other problem is the sensor and the push button didnt work properly. After

we analyze all the programming structure, we try to build the programming in switch

mode to replace the if-else mode in order to make the push button and sensors to work.

Then, the programming run well with the objective desired.

The mechanism of the Artificial Ant Robot is too heavy from the preliminary

work. The preliminary assumption is going worse. the robot cannot walk properly

because of the power of the servo motor is low. After we make some modification on the

power supply and the programming on the servo to give extra signal pulse to the servo,

the servos run well. Then with the enough power (torque) and capability of the servo

mechanism, we can make the robot move well as we desired.

41

CHAPTER 6

CONCLUTION AND RECOMMENDATION

6.1 Conclusion

This thesis have discuss all about developing the artificial Ant Robot that can

move in various direction and surface with the capability to avoid the obstacles. As the

result, this project successfully meeting its objectives. This robot is successfully control

by the PIC16F876A that programmed by using the C Programming.

6.2 Limitations

There are some limitations of the Artificial Ant robot project. The limitations are:

The robot must be Autonomous

The power supply must be internal power supply (not wired).

6.3 Recommendations

Since there several problems occur in this project. Here, listed some

recommendation for the further research in other to make improvement to this project

and the other project especially that related to the autonomous legged robot.

42

The model of the servo motor can be change with the higher ability that has extra

torque with less energy consumptions.

The servo motor movement can be optimizing with the good mechanism of the

legs.

Include the object detection sensor to enable the robot relocate the small

obstacle.

Make various movements that can make the robot more intelligent.

The mechanical structure can be made of more stronger and light material to

ensure the mechanism movement going well.

43

BIBLIOGRAPHY

1. Mohamad Taib Bin Miskon (2008), Rope Climbing Robot, Bachelor thesis

Universiti Teknologi Malaysia.

2. Owen Bishop (2007), Robot Builders Cookbook, Elsevier Ltd. Companies.

3. Ahmad Saifuddin Bin Iskandar (2009),Four Legged Robot, Bachelor Thesis,

Universiti Teknologi Malaysia.

4. Cik Marzu Suhaidi Bin Che Mat (2006), Master Slave Behavioral Robot ,

Bachelor Thesis, Universiti teknologi Malaysia.

5. Willard S., MacDonald (1994). Design and Implentation of a Multilegged

Walking Robot. University Of Massachussetts-Amherst.

6. Khairul Anwar Hanafiah (1998). Lukisan Kejuruteraan Berbantu Komputer.

Johor Darul Takzim, Penerbit UTM.

7. Assoc. Prof Dr. Shamsudin Amin (2002). Intelligent Robotics: Behavior

Based Robotics. Lecture Notes.

8. P. Myko(2003). Programming Robot Controller .McGraw Hill.

.

44

APPENDICES

Appendix A: Pictures Of Artificial Ant Robot

45

Appendix C: Programming Artificial Ant Robot

#define servo1 PORTC.F1



#define led1 PORTB.F5



#define button1 PORTB.F1

#define button2 PORTB.F2

#define ir1 PORTA.F1

#define ir2 PORTA.F2

unsigned int i;

unsigned double t;

void function1(void);


void fuuction3(void);


void forward(void);

void backward(void);

void gripper(void);

void right(void);

void left(void);

void stop(void);

void no (void);

void main()

{

46

ADCON1 = 1;

TRISC=0b00000000;

TRISB=0b00000110;

TRISA=0b00000110;

Delay_ms(1000);

led1 = 1;

led2 = led3 = 0;

Delay_ms(1000);

led2 = 1;

led1 = led3 = 0;

Delay_ms(1000);

led3 = 1;

led2 = led1 = 0;

while(1)

{

mode= Select_led(3)

Switch(mode)

{

case 1: while (1)

{

funtion1()

}

break;

case 2: while (1)

{

funtion2()

}

break;

case 3: while (1)

{

funtion2()

}

break;

47

case 4: while (1)

{

funtion2()

}

break

}

}


{

delay_ms(1000);

led1=1;

led2=led3=0;

forward();

if ( ir1= ir2 && ir1==0);

{

Stop()

}

else;

{

forward ();

}

}


{

delay_ms(1000);

led2=1;

led1=led3=0;

forward();

if ( ir1= ir2 && ir1==0);

backward();

else;

{

forward ();

48

}

}


{

delay_ms(1000);

led3=0;

led1=led2=1;

forward();

if ( ir1= 1 && ir2==0);

{

backward();

delay_ms(500);

left();

delay_ms(500);

right();

}

else if

( ir2= 1 && ir1==0);

{

backward();

delay_ms(500);

right();

delay_ms(500);

left();

}

else if

( ir1= ir2 && ir1==0);

{

gripper();

backward();

gripper();

forward;

}

else

{

stop();

}

}


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{

delay_ms(1000);

led3=1;

led1=led2=0;

forward();

if ( ir1= 1 && ir2==0);

gripper();

delay_ms(2000);

backward();

delay_ms(500);

left();

delay_ms(500);

right();

else if

( ir2= 1 && ir1==0);

gripper();

delay_ms(2000);

backward();

delay_ms(500);

right();

delay_ms(500);

left();

else

stop();

}

void no()

{

for(count=3;count>=0;count--)

{

switch(count)

{

case 0:led1=0;led2=0;led3=0;

break;

case 1: led1=0;led2=0;led3=0;

break;


break;


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void forward(void)

{

for(i=0 ; i

51

void backward(void)

{

for(i=0 ; i

52

delay_ms(800);

}

}

void gripper(void)

{

for(i=0; i

53

for(i=0 ; i

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1341_NURAZIMFAHADAAHMAD2011