INVESTIGATION OF AUTONOMOUS MANIPULATOR FOR SPHERICAL BODY

AGGREGATION AND FIRE EXTINTION 1 Mohamed Najib Ribuan, 2Norhidayah binti Md Nor Adam

Department of Mechatronic Engineering

Faculty of Electrical & Electronic Engineering

Universiti Tun Hussien Onn Malaysia

86400 Parit Raja, Batu Pahat,

Johor, Malaysia

Email: 1 m najib@uthm.edu.my , 2ce080208@siswa.uthm.edu.my,

1.0 Introduction

Since the beginning of robotics era, robots have presented some unique

challenges [1]. A high degree of autonomy is particularly desirable in fields such

as space exploration, cleaning floors, mowing lawns, and waste water

treatment. The nature of this robot relies on their ability to autonomously

navigate that can perform desired tasks in unstructured environments without

human guidance. A mechanism represent combination of resistant bodies, so

interconnected that by applying force or motion to one or more of those bodies,

some of those bodies are caused to perform desired work accompanied by

desired motions [12].

The mechanism model paradigm unifies the representation of kinetic, dynamic

and geometric information, while separating the computational algorithms from

the control algorithms thus making it independent of the hardware [3]. Example

of mechanisms can be applied at sewing machine. It uses simple closed- loop

chain mechanism that designed as an oscillating-cylinder engine mechanism

applies to move around the chain and wheel will rotate [3].

In this project, mechanism for spherical body aggregation and fire extinction will

be an investigation to find out the best way to produces a fire fighting and

rescue robot based on Malaysia University robot competition (Muroc).

1.1 Problem statement

Firefighting and rescue activity is recognized as a risky mission. As we know

firefighters face high risky situations when extinguishing fires and rescuing

victims. But, with new technologies in a robotic development, we can reduce

the number of an accident and can extinguish the fire flame safely. A robot can

function by itself, which means that firefighting and rescue activities could be

executed without putting firefighters at risk by replace it with robots. In other

words, robot can help the fire-fighters to encounter the dangerous situation.

1.2 Objective

The objectives of this project are:

i. To establish the suitable mechanism for Ping pong ball collecting

ii. To find out the fast and precise robot mechanism for Fire extinction

1.3 Scope

This project limited to the following specifications:

i. Standard emergency candles with 0.6” diameter and 2”-6” height will be

use as imaginary fire.

ii. The robot weights not exceed 5kg and used not greater 24V powered.

iii. Dimension of fire fighting robot not exceed 150mm(long) x 150mm(wide)

x 400mm(tall)

iv. Use Solid work 2007 software to investigate efficient mechanisms for

ping pong ball collecting, ball storage and fire extinction.

2.0 Literature Review

This project generally involves comprehensive knowledge on a fire fighting and

rescue robot control and movement aspect. To develop autonomous fire

fighting and rescue robot, the information and data have been collected based

on the review of journals, thesis and internet sources to make that the project

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developing successfully. The purpose of collected information and data is to get

some idea how to design and develop the fire fighting and rescue robot.

Year Robot Project Creator

1998 A Small Autonomous Fire-Fighting Robot System

Brent Short and John Walter

2001 El Patron – Junior Design Firefighting Robot Project[4]

Anthony Montoya, Jr., Ivan Olguin and Randy Sena

2003 Firebot: Design of an Autonomous

Fire Fighting Robot

Jason Plew, Mathew Moore

2006 SnakeFighter - Development of a Water Hydraulic FireFighting Snake Robot

Pal Liljeback, Oyvind Stavdahl, Anders Beitnes

2007 EDUBOT Cytron Technologies Sdn. Bhd.

2.1 Prototype

2.1.1 A Small Autonomous Fire-Fighting Robot System [5]

Figure 2.1 A Small Autonomous Fire-Fighting Robot System

The annual Fire Fighting Robot Competition sponsored by Trinity College has

been an exciting event for several years. The goal of the event seems simple: 

Navigate a model house floor plan, find a lit candle, and extinguish it. As the

contest’s web page states, a primary purpose of the contest is to "provide an

incentive for the robotics community to develop what will be a practical

application for a real-world robot". 

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Figure 2.2 is a functional block diagram of the robot system.  At the heart of the

robot is the 68HC12 microcontroller from Motorola.  The microcontroller is

responsible for sending signals to and receiving signals from the robot

hardware. The stepper motors used for this project were salvaged from surplus

Epson printers. In order for the robot to determine its position in the house, an

infrared system was chosen for its simplicity. The robots also perform analog to

digital conversion to 6 Infrared sensors. 4 sensors used to detect walls, one

floor sensor for marking and one sensors used to detect a candle flame. Fire

extinguisher robot system used a fan.

Figure 2.2 Robot system block diagram

2.1.2 EE 382 – Junior Design Firefighting Robot Project [6]

Figure 2.3 E1 Patron

This task was to design and build a mobile robot capable of competing in the

Trinity College Fire Fighting Home Robot Contest. The robot had to navigate

through a maze, detect a flame and extinguish the flame using various sensors.

The Motorola 68HC12 processing board was chosen for the brains of the robot.

El Patron’s power system consisted of 3 supplies which is a 12V sealed lead

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acid battery, a 7.2V Lithium- ion cell phone battery and two 9V batteries in

series.

This robot was using wall sensor follower with applied the Sharp GP2D12 IR

sensor and placed left and right side of robot body. Other sensor used is flame

sensor which is Hamamatsu Ultraviolet Flame Detector (UVtronR2868) and

PN168 photo transistor. The motors used were the Maxon, 22mm, rated at 6W

for a nominal voltage of 18V and a starting current of 1.28A. The physical size

of the motors was small and lightweight. They had to use a fan that powered by

the 12-volt lead acid, located near the center- front of the robot.

2.1.3 Firebot: Design of an Autonomous Fire Fighting Robot [7]

Figure 2.4 Firebot

Firebot’s frame is constructed of 1/8 inch thick balsa wood. The dimensions of

the frame were designed so that it is able to fit within the 21cmx21cmx20cm

home area and maneuver through the maze. The power supply consists of

eight 1.5 Volt AA nickel-cadmium rechargeable batteries. The robot has two

servos that are fully hacked for use as motors.

Atmel ATMega128 processor was chosen in this project. It provided 128

kilobytes of onboard flash for programs through a JTAG interface, a 10 bit

analog to digital converter (ADC), two UARTs, and multiple timers including

both output compares and input capture devices. Room finding is accomplished

using two infrared sensors centered on both sides of the robot. The IR sensors

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detect when an opening in the wall is present. CMU Camera is used to detect

the fire.

2.1.4 Snake Fighter - Development of a Water Hydraulic Fire Fighting Snake Robot [8]

Figure 2.5 Snake Fighter robots

This paper presents the Snake Fighter concept and describes the generic

element within this concept in the form of a water hydraulic snake robot. The

robot is the first water hydraulic snake robot ever constructed. A Snake Fighter

robot should be an articulated mechanism with joints operated by a water

hydraulic actuation system. The mechanism should be able to propel itself

forward through synchronized movements of the joints.

The robot has a high degree of traversability and be able to reach and operate

in inaccessible and hostile areas. The robot also covered by a wear resistant

skin with tactile sensing capabilities, the latter being essential to effective snake

locomotion and equipped with tools and sensory capabilities in accordance with

the given task .The fire fighting application required the robot to be resistant to

heat and heat radiation.

This Anna Konda robot is three meters long and weighs 70 kg. It was

developed in order to demonstrate the generic element within the Snake Fighter

concept, that is, a snake robot with a water hydraulic actuation system. The

skeletal modules were cut from a steel pipe. An assembled joint is shown to the

left in Fig. 2.6. The water hydraulic pressure is supplied to the robot by two

high-pressure washers connected in parallel. The total flow from these washers

is limited to about 30 l/min.

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Figure 2.6 Two skeletal modules connected to form a cardan joint.

A pressure reduction valve is connected between the high-pressure washers

and the snake robot in order to keep the supply pressure beneath 1450 PSI. A

total of 44 identical skin plates were manufactured in order to cover the robot’s

11 skeletal modules. Each joint has two degrees of freedom. The main

challenge encountered during the design of Anna Konda robot was the

development of a compact water hydraulic actuation system. There are virtually

no components available in the market for mobile or miniature water hydraulic

applications.

For this reason, the small water hydraulic valves and cylinders needed for the

robot had to be custom-built. The skin covering Anna Konda robot was

designed based on the desire to achieve a smooth outer shell that will enable

the robot to glide forward when it is curved around external objects. The plates

were made from aluminums. Angular control of the joints of the snake robot is

performed by a microcontroller (ATmega128) located in each skeletal module.

The microcontroller reads sensor data (joint angles and external forces) and

controls the valves. The water hydraulic actuation system works in accordance

with the predefined specifications.

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2.1.5 EDUBOT [9]

Figure 2.7 Edubot

According to this paper, microwave filters are central to a wide variety of

communications system design problems, since the available spectrum

becomes increasingly crowded by more and more users. Filters are the means

to confine the radiation from high-power transmitters within assigned spectral

limits, or to protect receivers from interference outside of their operating

frequency bands. A typical filter composed of a stack of cylindrical cavities,

machined from a low thermal expansion alloy, Invar. The cavities are couple to

each other via small irises in their common end walls. The cavities are

permanently joined by laser welding after passing pre-weld testing in a

threaded rod test fixture.

The second method for navigation is with whisker. Whisker sensor was

attached to the cable tied using glue. Whisker sensors help EDUBOT from

hitting the objects and interface with microcontroller PIC16F876A to count the

number of times it hits an obstacle and then stop moving. Third method for

navigation is line following, where infrared sensor was applied. Three coupled

of infrared sensor were placing under EDUBOT body to react with black tape

line. Comparator LM324 used to compare input voltage when the infrared

sensor produced low voltage because microcontroller is unable to deal with

analog value.

When infrared sensor senses a black line, the EDUBOT will move forward, but

if it’s stray from black line, the microcontroller will correct the error and back to

the line. The fourth navigation method is obstacle avoidance to avoid from

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hitting the wall and other object. It using infrared sensor which placed rear of

EDUBOT as horizontal. And lastly, wall following navigation also using infrared

sensor locate left side and right side of EDUBOT. Power supplies for this robot

are from 6 pieces of AA batteries which supply the whole robot to operation.

2.1.6 Autonomous fire fighting robot

Figure 2.8 Autonomous Fire Fighting Robot

This task was to design and build a mobile robot capable for the autonomous

detection and fire extinguishers. They use the PIC16F77 as microcontroller

capable of managing 33 input and output. Language programs were selected to

implement all the functions of robots based on coding language C.

Various sensors have been used for a robot with the main purpose of achieving

the objectives of the project including the distance sensors and fire detectors.

For detection distance, detection distance infrared has been used. Distance

measurement based on the principle triangle.While for the fire detector, the UV

detection TRON R2868 has been used that operate easily with just the lower

input voltage between 6V to 30V.

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3.0 Methodology

Figure 3.1 below shows the flowchart of project development. There have three

main parts to construct this project. There are the electrical and electronic part,

software part and mechanical part.

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NoYesNo

Yes

NoYes

YesNo

Start

Literature review

Design mechanical structure and research

development

Succes

s

Perm

asala

han

Succes

s

Perm

asala

han

Electric and electronic part

review

Programming’s download

Into the PIC

Microcontroller Part

Write the programming

Compile

Debug

Mechanical Part

Concept approach

Design circuit

Build the circuit

Succe

ss

Perm

asala

han

RepairCircuit testing

RepairTroubleshooting

Analysis data

literature Repair

Succes

s

Perm

asala

han

EN

D

Figure 3.1Flowchart for project development

Stepper DC

Figure 3.2 Basic component used for firefighting robot

3.1 Mechanical Part

Mechanical set-up is very important in constructing the robot. It involves the

designing and construction of the chassis. The purpose of the chassis is to provide a

platform to mount all the components on it. The chassis must be large enough to place

the motors, battery, sensors and all electrical components. Without an accurate and

details design, there are possibilities that the expected movement cannot be reached

by the robot. For this part, the SolidWorks 2007 software was used to design the

chassis.

SolidWork 2007 is mechanical design automation software that takes

advantages of the familiar Microsoft windows graphical user interfaces. It contains of

parts, assemblies and drawings. Typically, user begin with sketch, create a base

features and then add more features to their model. Users are free to refine the design

by adding, changing or reordering features. Associatively between parts, assemblies

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Probability Component in Fire Fighting and Rescue Robot

Sensor Motor Controller Wheel Power supply

literature literature Stepper

literature

PIC16F84 literature

literature

Ir sensor

Brushless

Brushed

Servo motor

Pancake

PIC18F4520

ATMega128

Intel 8051

literature Pololu wheel

literature

and drawing assures that changes made to one view are automatically made to all

other views. Users can generate drawings or assemblies at any time in the design

process. The SolidWork 2007 software lets the users customize functionality to suit

their needs.Other software that can used to design is AutoCAD and Autodesk.

Figure 3.3 Symbols of Solidworks 2007

3.2 Electrical and Electronic Part

To develop this robot, we have to design part of circuit and simulate it to make

sure that the circuits function successfully. In this part, Proteus software will be

used to design and simulate part of the circuit. Proteus Design is a complete

€electronics design system which useful to simulate entire microprocessor

designs running actual processor machine code in real-time. It is combines

schematic capture, SPICE circuit simulation, and PCB design to provide a

powerful, integrated and easy to use suite of tools for professional PCB Design.

Proteus software includes ISIS Schematic Capture software which is an easy to

use yet extremely powerful tool for entering your designs, PROSPICE Mixed

mode SPICE simulation software based on industry standard SPICE3F5

simulator combined with high speed digital simulator, ARES PCB Layout

software is high performance PCB design system with automatic component

placer, rip-up and retry auto-router and interactive design rule checking and

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VSM( Virtual System Modeling) that lets you co-simulate embedded software

for popular micro-controllers alongside your hardware design.

For example, in this project we used motor control circuit. So, we design it by

using Proteus software and simulate it to make sure our circuit function

smoothly and repair the circuit if there have any errors. We also can use

Multisim software to simulate the circuit.

Figure 3.4 Logo of Proteus Design 7.1 software

3.3 Microcontroller Part

The robot’s control system is achieved through PIC controller. There are many

reasons why microcontroller has been chosen. It can be used to interface with

motors, a variety of displays as output devices, communicate to PCs, read

external sensor values, even connect to a network of similar controllers and it

can do all of these tasks without many extra components. This leads to a small

and compact system that is more reliable and cost-effect.

PIC16F84A microcontroller has 18 pins included 13 input and output pins. It is

also included with watchdog timer and the memory consists of program

memory and data memory with 4Mhz speed. Normally it operated at 5v with

current less than 2mA.

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To program the PIC microcontroller, we use MPLAB IDE software. MPLAB

Integrated Development Environment (IDE) is a free, integrated toolset for the

development of embedded applications employing Microchip's PIC and PIC

microcontrollers. MPLAB IDE runs as a 32-bit application on MS Windows, is

easy to use and includes a host of free software components for fast application

development and super-charged debugging.

MPLAB IDE also serves as a single, unified graphical user interface for

additional Microchip and third party software and hardware development tools.

Moving between tools is a snap, and upgrading from the free software simulator

to hardware debug and programming tools is done in a flash because MPLAB

IDE has the same user interface for all tools. The programming of PIC

microcontroller is achieved through the assembly language.

Figure 3.5 Symbol of MPLAB IDE8.20

3.6 Dc motor

An electric motor uses electrical energy to produce mechanical energy.A free-

hanging wire was dipped into a pool of mercury, on which a permanent magnet

was placed. When a current was passed through the wire, the wire rotated

around the magnet, showing that the current gave rise to a circular magnetic

field around the wire. A DC motor is designed to run on DC electric power. Dc

motors are often applied where they momentarily deliver three or more times

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their rated torque. In emergency situations, dc motors can supply over five

times rated torque without stalling (power supply permitting). The comparisons

of Dc motor type are stated in table below.

Table 1 Comparisons of dc motor

Type Advantages Disadvantages Typical

Application

Typical

Drive

Stepper DC

Precision

positioning

High holding

torque

Requires a controller

no feedback

Positioning in

printers and

floppy drives

DC

Brushless

DC

Long lifespan

low maintenance

High efficiency

High initial cost

Requires a controller

Hard drives

CD/DVD

players

electric vehicles

DC

Brushed

DC

Low initial cost

Simple speed

control

High maintenance

(brushes)

Low lifespan

Treadmill

exercisers

automotive

starters

Direct DC

or

PWM

Pancake

DC

Compact design

Simple speed

control

Medium cost

Medium lifespan

Office Equip

Fans/Pumps

Direct DC

or

PWM

Servo

motor

low energy

requirements

very accurate

high torque

small sized

low weight

limited to 0-180

degrees of

movement

robotic arms,

radio-controlled

toy-cars,

air-planes and

helicopters,

industrial

machinery

Direct DC

or

PWM

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4.0 Expected Result

This project would contribute a fire fighting and rescue robot. It is expected to

be fully functioning as desired. In details, here are list of the expected result:

a) Autonomous fire fighting and rescue robot can identify and stop the fire

around the platform without touching the fire source

b) Autonomous fire fighting and rescue robot can only move on flat surface

and can extinguish fire flame

c) The robot will extinguish a fire in the quickest time possible.

d) the robot can collect and store victims around the house and transport it

back to starting zone

5.0 Conclusion

This project is divided by two, hardware’s system and software’s system. For

hardware system, these projects need the some component which is fan, servo

motor, gear and other mechanical and electrical component. Then, for software

system, this project needs software that suitable to design mechanical part and

Solidwork 2007 was chosen. In progress building the design programming and

mechanical structure and connection are still on preliminary stage and lots of

modifications that need to be carry out later on. In this project electrical

construction will be less focus as more to mechanical construction to

investigate a few mechanisms that suitable for the fire fighting and rescue

robot. After all problem states above, which is finding the best mechanisms that

suitable for fire fighting and rescue robot achieve, it expected to be fully

functioning as been desired.

6.0 Reference

[1] McComb, G (2006). “Robot builder's bonanza.”, 3rd ed. McGraw Hill.

[2] Wise, Edwin (2003).”Applied robotics II’’,Thomson Learning.

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[3] Tsai, Lung-Wen (2001).” Mechanism design: enumeration of kinematic

structures according to Function” Boca Raton, FL: CRC Press.

[4] B.Yilma, M.A.Seif (1998), Behavior-based artificial intelligent in miniature mobile

robot, Tuskegee University of USA.

[5] Jason Plumb (1998),’’ Project MN3005 A Small Autonomous fire Fighting

Robot System”

[6] Anthony Montoya, Jr., Ivan Olguin and Randy Sena (2001).” El Patron – Junior

Design Firefighting Robot Project”

[7] Jason Plew, Mathew Moore.”Firebot: Design of an Autonomous Fire Fighting

Robot”, University of Florida, Gainesv

[8] Pal Liljeback, Oyvind Stavdahl, Anders Beitnes (2006). “Snake Fighter –

Development of Water Hydraulic Fire Fighting Snake Robot”

[9] Educational Robot Kit-EDUBOT,Cytron Technologies, 2007

[10] http://www.rscomponent.com (3 March 18, 2010)

[11] http://www.cytron.com.my(3 March 18, 2010)

[12] http://en.wikipedia.org/wiki/Mechanism_ (engineering)

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