LOGO The omnidirectional writobot Muhamad Nabil Bin Mansor 850622 075113 AE 040230 Supervisor : DR rosbi bin MAMAT
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The omnidirectional writobot
Muhamad Nabil Bin Mansor850622 075113AE 040230
Supervisor : DR rosbi bin MAMAT
introduction
Omnidirectional WritobotOmnidirectional means transmitting in all directions.A robot that can move into any direction while leaving its trail on the surface to become a writing effect.The robot can write in a large size of character as it is a mobile robot.
Objective
To design and construct an omnidirectional vehicle prototype.
To make vehicle moving and writing.
To enable navigation control of the robot.
Scope of project
Design of omnidirectional vehiclesDesign and build the mechanical structureElectronic circuit fabricationDeveloping the program for the robot to write
Problem statement
Hard to make a large character using marker pen manually (by human hand). To point at certain coordinates in a large area accurately needs bigger tools to execute the task.
Literature Review
Calligraphy robot
Driven by DC motor Able to write Chinese Characters using a brushBy Shoichiro Fujisawa, Keiji Ohkubo, Takeo Yoshida,Naoki Satonaka, Yasunari Shidama, and Hiroo Yamaura.Shinshu University, Japan.
Literature Review
MULTI DIRECTIONAL MECANUM ROBOT
An autonomous mobile robot using four custom-made mecanum wheels Provide multi directional movement without needing a conventional steering system Controlled by a microcontroller typePIC16F877A
By Mohd Solehin Bin ShamsudinBachelor of Electrical Engineering (Mechatronics) UNIVERSITI TEKNOLOGI MALAYSIA, May 2007.
Electronic block diagram
PIC 18F452
Servo motor 2Servo motor 1
DC motor
Stepper motor 2
Servo motor 3
Stepper motor 1
Stepper motor 3
Methodology
Outsource the electronic / mechanical
components and build the robot
Concept and idea
Literature Review
Research on Electronic Part and Mechanical Design
Mechanical Design
Electronic DesignSoftware
development and
programmingTesting, simulating and
troubleshooting the robot
Final Result
Design Layout
Top view Perspective view
Side view
Early Design
Design Layout
Top view
Final Design
Design Layout
Final Design
Side view
Design Layout
Final Design
Front view
Design Layout
Final Design
Perspective view
ROBOT MOVEMENT
ROBOT MOVEMENT
Robot Mechanical part
Body made from perspex and
aluminumRobot arm made from welded steel
Wheel from remote control aircraft
wheelMarker pen up and down mechanism made from custom CD-ROM
body
Robot Electrical part
Microcontroller PIC18F452Motor Driver
L293D to change DC motor
directionStepper Motor Circuit 4050N (hex buffer)
TIP120 (Darlington transistor) to control stepper motor by giving the right
high-low sequenceStepper Motor Minebea 17PM - K508 –
G1ST
Robot Electrical part
Battery RB640B (6V) Maxwell Super (9V)
Servo Motor
Cytron C40S
Software involved
Rhinoceros 4.0 to design the mechanical
structureMPLAB IDE v7.43 to build the program for the
robot
WinPic800 to insert the program into the robot microcontroller
ISIS 6 Professional to simulate the program
WRITOBOT
Top view
Perspective view Side view
Writobot Circuit
WRITOBOT
Marker pen up/down mechanism
wheel
wheel
Result
The design of the robot enable this robot to achieve omnidirection movementThe robot able to make a smooth movement on the floor surfaceThe design of the robot tire enable the robot to twist the wheel on a paper surface smoothly without leaving the tire mark The robot able to point at some X–Y coordinates
Result
The robot is able to write the alphabets which do not have curves
The robot is able to write the alphabets with no limit size of font
FUTURE RECOMMENDATIONS
The robot is unable to write the alphabets which have curves. This is due to the robot wheel that is not very coaxial and it hard to make the servo motor and stepper motor synchronizeThe robot have no sensor which make it unintelligent. It is suggested to put some sensor on the robot to make it writing more efficient in the future.The robot will only write what it is pre-program to write. In the future it is hope that this robot can interface with computer via Bluetooth to write or plot something.
CONCLUSION
The success of this project proves that the design of the robot make the robot capable of moving in omnidirectionThe robot able to point at some X–Y coordinates The robot can write on the plain surface
References
The Shoichiro Fujisawa, Keiji Ohkubo, Takeo Yoshida,Naoki Satonaka, Yasunari Shidama, and Hiroo Yamaura(1997). Improved Moving Properties of An Omnidirectional Vehicle Using Stepping Motor. Proceedings of the 36th Conference on Decision & Control. December 1997. San Diego, California USA, 3654.Mohd Solehin Bin Shamsudin(2007). Multi Directional Mecanum Robot. Bachelor of Electrical Engineering (Mechatronics), Universiti Teknologi Malaysia, Skudai.Riichiro DAMOTO, Wendy CHENG and Shigeo HIROSE(2001). Holonomic Omni-Directional Vehicle with New Omni-Wheel. Proceedings of the 2001 IEEE International Conference on Robotics & Automation. May 21-26, 2001,Seoul, Korea, 773. http://www.imagesco.comhttp://www.cytron.com.my
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