UNDER THE GUIDENCE OF:-

Mr. Samiran Biswas

SSuubbmmiitttteedd bbyy::--

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ACKNOWLEDGEMENTACKNOWLEDGEMENTACKNOWLEDGEMENTACKNOWLEDGEMENT

We would like to express our heartiest gratitude to

Mr.Samiran Biswas, Mr. Chandan Kumar Ghosh, Mr.

Dipak Chakrabarty for providing us with their proper

guidelines and supervision to perform our final year

project in the 8th sem .Then I would like to thank

Subir sir, Mr. Biswajit Biswas for their continuous

inspiration during the whole project.

We would like to thank the whole ECE Dept. Of

MCET for their continuous cooperation and

clarification of doubts while carrying out project

work.

Our special thanks goes to all the faculty members

and college administration, MCET for their

assistance and encouragement.

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� � � � � � � � � � � � �WHAT IS ROBOTICSWHAT IS ROBOTICSWHAT IS ROBOTICS

Robotics is the science and technology of robot, their design,

manufacture, and application.Robotics requires a working knowledge

of electronics, mechanics and software, and is usually accompanied

by a large working knowledge of many subjects.A person working in

the field is a roboticist.

Although the appearance and capabilities of robots vary vastly, all

robots share the features of a mechanical, movable structure

under some form of autonomous control. The structure of a robot

is usually mostly mechanical and can be called a kinematic chain (its

functionality being akin to the skeleton of the human body). The

chain is formed of links (its bones), actuators (its muscles) and

joints which can allow one or more degrees of freedom. Most

contemporary robots use open serial chains in which each link

connects the one before to the one after it. These robots are

called serial robots and often resemble the human arm. Some

robots, such as the Stewart platform, use closed parallel kinematic

chains. Other structures, such as those that mimic the mechanical

structure of humans, various animals and insects, are comparatively

rare. However, the development and use of such structures in

robots is an active area of research (e.g. biomechanics). Robots

used as manipulators have an end effector mounted on the last

link.

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Obviously the line following robot will need to see the line,

therefore we require an light detector of some sort. We

also would like it if the line following robot could do this

regardless of the ambient conditions (is the room dark or

light? is it lit by sunlight or artificial light?). So the robot

will also need its own illumination source. The weapon of

choice here will be Infra Red (IR) light.

To make this easy for ourselves the light only needs to be

constant... if a white line is present then it will reflect a

lot of IR from our source. If the line is black then we see

the opposite effect.

THE CIRCUITTHE CIRCUITTHE CIRCUITTHE CIRCUIT

All we need is an IR source, an IR photo-transistor and a

couple of resistors! Here are the resources:

• IR emmiters and detector pairs:

• IR emmiters and detector pairs:

On top of these, it would be nice if the signal that we

get could be TTL (on or off, 0V, 5V). So to do this

we will also require our favourite BEAM chip, the

74AC240, heres the circuit:

Obviously the line following robot will need to see the line,

therefore we require an light detector of some sort. We

also would like it if the line following robot could do this

regardless of the ambient conditions (is the room dark or

light? is it lit by sunlight or artificial light?). So the robot

will also need its own illumination source. The weapon of

choice here will be Infra Red (IR) light.

To make this easy for ourselves the light only needs to be

constant... if a white line is present then it will reflect a

lot of IR from our source. If the line is black then we see

the opposite effect.

Circuit operation is simple.... no line to follow put the

input to the inverter high, and therefore the inverter

outputs a low, line detection turns on the transistor (or

photodiode) and thus the inverter gets a low and outputs a

high. If your robot is following a black line on a white

page, then add another invereter after or before the

first.

So what should the values for R1 and R2 be? and how do I

set up the 74AC240 chip exactly..... The value for R1

affects the source IR brightness, for maximum brightness

we set R1 to give the maximum allowable forward current

for the IR led. So what should it be?? Well, look at the

datasheet for your LED, lookup the value of the maximum

forward current. Now a simple bit of electronic theory

tells us V=IR, I will assume you are using 5V because this

is the volatge the 74AC240 should be run at (6V is OK...

4 AA batteries).

Now lets say that the max forward current is 100mA so

we have 5V = 100mA * R , therefore:

5/100*10^-3 = R = 50ohms.

Experiment with different values until you get a sensitivity

that you are happy with... too bright and the detector will

see it when it shouldn't! Also remember this will affect

the distance you can have it from the line you are

following.

So how about R2? just set R2 to about 4K.

The chip setup is simple too... ground pins 1, 10 and 19,

put 5V onto pin 20. Now choose a pin to input your signal

to, if we look at the 74AC240 datasheet on page 14, we

will see a connection diagram, any pin with an I is an

input, follow it across to find its output.

Pins 1 and 19 are the enable pins, which we have grounded

to permanently enable the inputs on both side of the chip,

this leaves you free to use any of the input pins. For

example (in case I haven't spelt it out enough already)...

input your signal at pin 4 and take the ouput from pin 16.

The output signal could be used to directly drive your

motor... just connect one side of the motor to the ouput,

and the other side to ground. If you do this for two

motors (2 sets of line detectors will require two sets of

emitters and detectors, but only one 74AC240 chip), then

you have a basic line follower already! The left detector

should be used to drive the right motor and vice versa

The behaviour of this robot as it stands will be too turn a

motor on IF a line is present, if both detectors are over

the line then it will drive straight, if the left detector

goes of the line, it will turn off the right motor causing

the robot to turn back onto the line, if the right detector

goes off the line then it will turn off the left motor and

again go back onto the line. If both detectors come off

the line (end of line) then the robot will stop altogether,

perfect!

� � � � � � � � � � � �74HC240 • 74HCT24074HC240 • 74HCT24074HC240 • 74HCT240

OCTAL BUFFER/LINE DRIVER WITH 3OCTAL BUFFER/LINE DRIVER WITH 3OCTAL BUFFER/LINE DRIVER WITH 3OCTAL BUFFER/LINE DRIVER WITH 3----

STATE OUTPUTSSTATE OUTPUTSSTATE OUTPUTSSTATE OUTPUTS

General Description

The AC/ACT240 is an octal buffer and line driver designed

to be employed as a memory address driver, clock driver

and bus oriented transmitter or receiver which provides

improved PC board density.

Features

_ ICC and IOZ reduced by 50%

_ Inverting 3-STATE outputs drive bus lines or buffer

memory address registers

_ Outputs source/sink 24 mA

_ ACT240 has TTL-compatible inputs

� � � � � � � � � � � � � � � � � � �MEASUREMENT AT A GLANCEMEASUREMENT AT A GLANCEMEASUREMENT AT A GLANCE

• Height of the base from ground = 8.7 cm

• Diameter of the wheel = 3.2 cm

• Free space = 0.1cm

• Width of wooden base = 0.5 cm

• Breadth of base = 17.6 cm

• Length of lower base = 23.7 cm

• Number of motors used = 3

• Revolving base :

Breadth =15.5 cm

Length= 30.7 cm

• Length of arm =31cm

• Length of grabbing hand = 9.6cm

• Maximum extendable length of grabbing hand =10cm

� � � � � � � � �� � � � � � � � �� � � � � � � � �� � � � � � � � �

The bot rests upon four wheels. Out of four wheels, the two

rear wheels are driven by two separate geared motors of 100

rpm each which are connected on the same axis. The D.C motors

are operated at 12 volt with normal power supply of 220- 230

volt using a Switched Mode Power Supply (SMPS). The wheels

can rotate in both clockwise and anticlockwise direction. The

rest two front wheels can rotate 360 degree on both ways to

support the bot in any direction. Left and right movement of the

bot is due to free rotation of front wheels keeping the left and

right rear wheels constant at one time respectively.

UPPER BASEUPPER BASEUPPER BASEUPPER BASE

Above the lower base of the bot, the turn table platform is of

30.7 cm length and 15.7 cm breadth. The upper revolving base

is connected with an arm which lifts and lowers down the

material and also keep the blocks in horizontal and vertical

position. The turn table is rotating in both directions through a

geared motor of 10 rpm. Horizontal movement of the arm

depends on the clockwise and anticlockwise movement of the

motor shaft of the turn table. The motor is actually fixed with

the lower base keeping the shaft at a certain height. This shaft

has got a rubber padding on its tip. turntable there is a rubber

padding.

CONTROLCONTROLCONTROLCONTROL

The mechanical structure of a robot must be controlled to perform

tasks. The control of a robot involves three distinct phases -

perception, processing and action (robotic paradigms). Sensors give

information about the environment or the robot itself (e.g. the

position of its joints or its end effector). Using strategies from

the field of control theory, this information is processed to

calculate the appropriate signals to the actuators (motors) which

move the mechanical structure. The control of a robot involves

path planning, pattern recognition, obstacle avoidance, etc. More

complex and adaptable control strategies can be referred to as

artificial intelligence.

LOCOMOTIONLOCOMOTIONLOCOMOTIONLOCOMOTION

For simplicity, most mobile robots have four wheels. However, some

researchers have tried to create more complex wheeled robots,

with only one or two wheels.

• Two-wheeled balancing: While the Segway is not commonly

thought of as a robot, it can be thought of as a component of

a robot. Several real robots do use a similar dynamic

balancing algorithm, and NASA's Robonaut has been mounted

on a Segway.

• Ballbot: Carnegie Mellon University researchers have

developed a new type of mobile robot that balances on a ball

instead of legs or wheels. "Ballbot" is a self-contained,

battery-operated, omnidirectional robot that balances

dynamically on a single urethane-coated metal sphere.

� � � � � � � � � � �APPLICATIONSAPPLICATIONSAPPLICATIONS

1. The robot can be used as a guider to guide the visitors from the

entrance to the main office .

2. It can help doctors to carry the medicines from one ward to

another .

3. The main purpose is to rescue the people by extinguishing fire in

a building .

4. When man power does not work to rescue then the robot can

done this job.

LIMITATIONS AND EXTENSIONSLIMITATIONS AND EXTENSIONSLIMITATIONS AND EXTENSIONSLIMITATIONS AND EXTENSIONS

In the present condition it can extinguish fire only in the way

and not in all the rooms. It can be extended to a real fire

extinguisher by replacing the fan by a carbon-di-oxide carrier and

by making it to extinguish fires of all the room using

microprogramming.

Also the robot could not be run through the batteries because

at some conditions the current requirement for the circuit rises to

about .8A which is very high and can not be obtained using

batteries.

CONCULCONCULCONCULCONCULATATATATIONIONIONION

We made it possible using various electrical and mechanical

components. It includes in total five geared motors of varying

rpm. We have made a differential steering set-up for the

various movements of the lower base. The other movements of

the upper base, arm and the grabbing system is provided by

mechanical coupling, pulley system and a pivoting system

respectively. Ball bearing, free rotating wheel etcetera are used

for the movement of the bot. For the electrical connection part

we had used switches, relays, connecting cables, and other

components.

In our journey we had met with several problems, especially

while working with the grabbing part. We solved most of the

problems and finally arrived up till this. Moreover all type of

electronic goods were not available in our nearby market and for

small things we had to travel a long way from Behrampore to

Kolkata. However it was fun working in such an innovative and

energetic team.

Finally we present to you, MASS, our robot. Though it looks

somewhat poverty stricken due to its rickety limb, it is capable

of performing its task in an efficient way. We had just tried to

utilize our meager resources optimally.

BIBLIOGRAPHYBIBLIOGRAPHYBIBLIOGRAPHYBIBLIOGRAPHY

These are some of the sites we visited:-

http://www.hobbyengineering.com/rmapIndex.html

http://www.ridgesoft.com/buildingbots.htm

http://www.seattlerobotics.org/guide/infrared.html

http://www.robotroom.com/RBFB.html //line following

robot

http://www.mstracey.btinternet.co.uk/interest.htm

http://www.dudi30.republika.pl/galeria/index.html

//New robot every week

http://www.robotics.com/robomenu/index.html

THANK

YOU