ROBOTS FEATURES
ABU ROBOCON 2012 HONGKONG “Peng on Dai
Gat”
By Achyut Paudel
-Team Leader
The Manual Robot
TASKS
The Manual robot picks up the Token
from the Token stand and puts it into
the token box beside the tunnel.
After passing through the tunnel, the
Manual robot lifts up the Collector
robot from the collector robot zone
and unloads it to the automatic robot
from the loading area one.
The Manual robot carries the basket in
the manual robot zone to the basket
area in the island.
The Manual robot lifts up the Collector
robot lying in the island to let it pick
the bun from the top layer and drop on
the basket.
Mechanical Details
Mechanical steering using a handle bar and
the driving motor embedded in the wheel,
two rear free wheels and two front idlers.
Sliders driven by chain and sprokets for up
and down movement of the fork and the
token gripper.
Solenoid valve operated pneumatic scissor
mechanism to grip the token.
Fork lift mechanism to lift up the Collector
robot and the basket.
Electronic Details
Driving motor driven by H-bridge and
slider driven by relay bridge.
Speed control of the driving motor
using variable resistance
potentiometer
16F877A microcontroller.
Infra Red Light Emitting Diode for
wireless communication.
Photos
Pneumatic Gripper(Scissor Mechanism)
Motor Coupled Single
wheel Drive
Vertical Slider with chain drive, Forklift
The Automatic
Robot
Tasks
To carry one of the baskets from the
Common Zone to any part of the
Manual Robot zone.
Carry and unload the Collector Robot
to either Loading Area two or Loading
Area three.
Mechanical Details
Two back wheel driving motors, two
front free wheels.
Fork lift mechanism attached in a
vertical slider to lift up the basket.
Pulley operated horizontal sliding
mechanism to adjust the centre of
gravity.
A hook on the vertical slider to restrain
the motion of Collector robot while in
motion.
Electronic Details
Two H-Bridges, two relay bridges and
dual controller interface.
Programmable reflective optical
sensor for line tracking.
Two rear wheel quadrature phase
optical encoders for position/motion
control.
PID velocity control.
16F877A microcontroller.
Photos
Motor Coupled Back wheel Drive, Circuits Forklift
Horizontal and
Vertical Sliders
The Collector
Robot
Tasks
Climb up the stairs from Loading Area
two to the Island as per the game plan
one.
Pick the buns from lowest and middle
layers of the bun tower and put in the
basket.
Pick the bun in the top layer and put in
the basket while itself being lifted by
the Manual Robot.
Mechanical Details
Six wheel drive, two driving motors connected to
two rear wheel(up) shaft, power transmitted
through chain and sprokets to front two wheels and
two rear wheels (down).Two front(down) idlers.
Folding leg mechanism for climbing the stairs from
Loading Area two to Island.
Gear coupled rotating tower.
Rack and Pinion embedded vertical slider.
Pulley operated horizontal sliders.
Pneumatic lever for gripping buns.
Electronics Details
Four H-bridges and a dual controller
interface.
Programmable reflective optical sensors for
line tracking.
Proximity sensors for bun and basket
detection.
A single quadrature phase optical encoder
for rotation control of tower.
16F877A microcontroller.
Folding leg and Driving
mechanism
PHOTOS
Gear Coupled Rotating
tower
Vertical and Horizontal
Sliders
Pneumatic Gripper with Proximity
sensor