FABRICATION OF AN AUTOMATED GUIDED VEHICLE Presented by: ARVIND.S.A SOORAJ.V.R ANKITHA SHARMA ALKA MOHAN PHILIP VISHNU MURALI MENON MINI PROJECT REPORT
Jun 26, 2015
FABRICATION OF AN AUTOMATED GUIDED VEHICLE
Presented by:ARVIND.S.ASOORAJ.V.R
ANKITHA SHARMA ALKA MOHAN PHILIP
VISHNU MURALI MENON
MINI PROJECT REPORT
INTRODUCTION
» Automated industrial guided vehicle is a robot
» It˃ delivers the materials from the supply area to the technician
automatically.
˃ Is faster and more efficient.
˃ Can be accessed wirelessly, a proximity detector has been added which
causes the robot to stop as long as there is an obstacle in its way, thus
avoiding accidents.
Model Overview
» Automation in material handling system is the major
attractions of the project .
» Electrical and electronics systems are embedded in this unit to
achieve automation.
» This type is used mainly in mass production system to increase
the rate of production and reduce labour cost.
SYSTEMS
MECHANICAL Chassis & Steering
ELECTRICAL Motor Power
ELECTRONICS Control Unit
COMPUTER PROGRAM Path Planning
BLOCK DIAGRAM
BRIDGE RADIO TRANSMITTER
RECEIVER
MICRO CONTROLLER
MOTOR DRIVER MOTOR
CENTRAL COMPUTERPROGRAM
INSTRUCTION
SIGNAL
Language Used: Python Works under any OS Open source
COMPUTER PROGRAM
BRIDGE
Converts USB Protocol to UART ProtocolUART Protocol is standard for MicrocontrollerTRANSMITTER:
Electronic device that transmit a electronic signal
wirelessly RECIEVER
Electronic device that receives a wireless signal
MICROCONTROLLER:
Atmega 16 microcontroller is used.
Medium cost
High speed grades 0 - 16 MHz
High-performance
operating voltage 4.5V to 5.5V
UART(Universal Asynchronous Receiver/Transmitter)
Crystal oscillation speed:16 Mhz
Technical speciphication» Transmission frequency: 433Mhz (Free License)» Transmission speed:1200 baud» Maximum transmission range:3 m indoors 10m
outdoors.» Maximum voltage:5 V
ATmega16 Pin-out diagram.
MOTOR DRIVER: Controls motor using Logical signal from the
microcontroller
Controls motor speed using Pulse width modulation
Electronically commands the motor to go forward,
reverse, brake, and coast.
» Technical specification of l293D» Maximum logic voltage:5.5v» Minimum logical:4.5v» Maximum supply voltage:36v» Maximum supplied current: 600mA/channel» No of channel:2
MOTOR:Actuator that converts electrical signal to rotational
motionContrary to usual belief it is an open loop control, A
new technology of Back Emf interference is used to approximate a closed loop
Motor specification» Speed:200 rpm» Rated voltage:12v» No load current:60 mA» Full load current:500 mA» Stall current:580 mA» Back emf interference: range of 300 to 500 uA» Torque:2 kg cm
» Movement mechanism The robot consider to be in originIt can move through the lines with the box enclosed by the lines assumed to be machines.By using geometry path can be calculated by the central computer which is sent wirelessly to the AGV.
CHASIS DESIGN
Incorporate design for optimal use in a factory environment.
Support for both differential steering and Ackermann mechanism.
Model supports a static load of 12.6 kg of load and 6.3 kg of dynamic load and approximately 1.26 kg of impact load.
Material used Al alloy powder coated designed in catia with help of a friend.
Technical specification of chassis» breadth:105mm» Length:194mm» Hight:42mm» Wheel diameter:70mm» Wheel thickness:20mm» Wheel base:142mm
» The microcontroller receives the path from the computer after the following considerations˃ The path is not currently in use by other AGV˃ The path does not cross the lines being used by other AGV.˃ The path is under maintenance
Formulas used for straight line motion» For straight line motion between and ,» =» For straight line between , and ,» =» Formula for taking a turn» tanø = () » ø = )
» Formula for calculating distance
» Different Paths to go to destination
» r r r r r r r u u u u» Instead of having 6 rights at 4 ups, imagine we
start with 10 rights (r r r r r r r r r r).» Clearly this won't do: we need to change 4 of
those rights into ups. How many ways can we pick 4 rights to change?
» 10!/6!4!=210
STEERING MECHANISM
SPINNING STEERING Small radius turning
Large radius turning
Project Cost» Microprocessor Board: 1100Rs» Motor: 350Rs» Microprocessor: 210Rs» Chassis Outsource: 400» Transmitter-Reciever Pair: 500Rs» Motor Driver: 50Rs» Tyres: 70Rs» Bridge: 900Rs» Battery: Lead-Acid: 450Rs, LiPo: 900Rs
CONCLUSION» The AGV is an productivity increasing feature in a factory
that has the following advantages» 1. Speed of delivery» 2. Flexibility of path» 3. Adaptive to changes in factory layouts» 4. Central control» 5. Reduction in labour cost» 6. Reduction in running cost compared to conveyer
systems» 7. Ability to add sensors to detect the payload
conditions
DISADVANTAGES
» 1. Should be recharged periodically» 2. Will stop delivery when the AGV is forced off
the path.» 3. High Initial cost
THANK YOU