MT 25 - Self Transforming Robot PPT

8/11/2019 MT 25 - Self Transforming Robot PPT

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SELF TRANSFORMING

ROBOTTEAM MEMBERS:

Gaurav Sharma(1180910032)

Maharshi Bijoy Das(1180910051)

Mohammad Altamash .Y(1180910058)

PROJECT GUIDE:

Mr. K. Sivanathan


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OBJECTIVE

The primary objective of the project is to build a robot that can

achieve various modes of locomotion, such as Walking on

legs, Moving on wheels, Moving on inclined surfaces, etc.

In order to perform its action, the robot could change its

anatomy, in other words to transform its shape.


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LITERATURE REVIEW

HYDRA ROBOT

The HYDRA project is part of the European IST program,

which is researching self-assembling robots.

The robots are built from many smaller identical modules,

which can attach to each other and move around, or create

a special shape to behave like a robot.

They can also transform their shape from a snake form to awalking robot form.

This kind of robot has a huge advantage over other

designs of robots in terms of sharing power or to perform

self-repairing.


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HYDRA ROBOT


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SWARM ROBOT

The theoretical root of this project is to use swarm

intelligence for self-organizing and self-assembling

capabilities, like social insects and 12 other animal

societies.

In this system, each artifact is composed of a number of

simpler, insect-like robots.


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PROJECT STEP FLOW

DIAGRAM CAD Design using PRO/Engineer wildfire 4.0

Structural analysis using PRO/Mechanica

Optimization of DesignDESIGN OF PROTOTPE

Motor selection and control strategy (Servo control PWM)

Sensor selection, calibration and integration (Distance

Detection) Battery requirement specification and selectionCONTROL DESIGN

Development of Algorithm to implement the defined objective

Interpreting the algorithm into VIs of LabVIEW Real time andFPGA

Develop a GUI to control the operation of robot

LABVIEW REAL TIME AND

FPGA VI DEVELOPMENT AND

DEPLOYMENT

Testing of robot mechanism

Optimization of Design

Optimization of Control stategy and programROBOT IN ACTION


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ROBOT MECHANICAL DESIGN

AND ANALYSIS Pro/ENGINEER Model


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Pro/MECHANICA Analysis


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FABRICATION OF ROBOT

To keep the robot as light as possible, without a trade-off with

strength and rigidity, Aluminium material is chosen for the

chassis.


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In order to assemble the chassis with the legs of the robot,

servo motors are used. A total of 18 iFlight standard servo

motors are used to connect the various links of the robots.

Technical Data:

Operating Voltage: 4.8v ~ 6.0v

Operating Speed: 0.18sec/60

Stall Torque: 4.2kg

Dimensions:

Size: 40.8x20.1x38.0mm

Weight: 38g


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Parallax PING))) Ultrasonic DistanceSensor

The PING))) Ultrasonic Distance Sensor is an all-in-one

module for accurately measuring distances between itself and

objects nearby.

The effective range is from about 1 inch to 10 feet (2

centimeters to 3 meters).


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Battery and UBEC

As there are 18 iFlight standard servos in the self

transforming robot, it requires a separate LIPO Battery. The

robot has a FULLYMAX 7.4V 3250 mAh 25C LIPO battery.

Since the servo requires a regulated supply of 4.8 6 V, it

has 5V 5A UBEC.


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LabVIEW CODING

Servo Motor Control block


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Ultrasonic Sensor VI Block


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CONCLUSION

The fabrication of the robot was completed as per the exactdimensions of the model generated in Pro/ENGINEER and

Pro/MECHANICA. The analysis performed made sure that

the chassis system had minimum possible deformation.

The NI sbRIO controller was programmed to provide the

required reconfiguration of the anatomy of the robot. The

program written in NI LabVIEW FPGA and Real-Time Module

was working efficiently.

The PING))) Ultrasonic Distance Sensor was integrated

with the target sbRIO and the sensor was calibrated. The

sensor data was used by the self transforming robot for

obstacle avoidance operation.


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THANK YOU

MT 25 - Self Transforming Robot PPT

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