Fabrication of a Stair Climbing Vehicle for Industrial and Rescue

application Using Appropriate Technology

Prepared by

Shimanto MohammadRoll: 1003064

Published in:Electrical & Computer Engineering (ICECE), 2012 7th International Conference

A Presentation on

Motivation

Overview

Hardware Descriptions

Control System

Conclusion

CONTENTS

• Speed up search and rescue operation

• Industrial automation

• Military task

• House hold work

• Hospital operations

• Security systems

Motivation

This paper presents the implementation of a stair climbing vehicle having a robotic arm.

Overview

Key features of the vehicle: Climbing Stair Explore rough terrain Grip and Carry objects Measure the weight of objects and

sort them

• Module 1- Stair Climbing Vehicle Part

• Module 2- Robotic Arm Part

Hardware Description

Fig. Stair climbing robotic vehicle

Fig. Robotic gripper arm.

Module 1- Stair Climbing Vehicle Part

Fig. Vehicle climbing stairs.

• Dimension 56*25 *11.5 cm

Module 1- Stair Climbing Vehicle Part

Fig. Vehicle climbing stairs.

• Dimension 56*25 *11.5 cm• Requires 4 gears

Module 1- Stair Climbing Vehicle Part

Fig. Vehicle climbing stairs.

• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =

2*rear gear dia (55mm)

Module 1- Stair Climbing Vehicle Part

Fig. Vehicle climbing stairs.

• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =

2*rear gear dia (55mm)• 38 teeth in front gear and

22 teeth in rear gear

Module 1- Stair Climbing Vehicle Part

Fig. Vehicle climbing stairs.

• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =

2*rear gear dia (55mm)• 38 teeth in front gear and

22 teeth in rear gear• Timing belts warp with

gears

Module 1- Stair Climbing Vehicle Part

Fig. Vehicle climbing stairs.

• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =

2*rear gear dia (55mm)• 38 teeth in front gear and

22 teeth in rear gear• Timing belts warp with

gears• 6204 bearing used to

support load of plexiglassand electrical parts.

Module 2- Robotic Arm Part

Different parts:Griper armStandRotating base plate etc.

Fig. Overall structure of Robotic arm.

Module 2- Robotic Arm Part

Griper arm-two grippers-gears-shafts-an arm-bushing for motor coupling

Fig. Robotic gripper arm.

Module 2- Robotic Arm Part

Rotating base plate-clamped with a shaft-a bearing in the base table-joined with stepper motor-4 shafts design to transmit power

Fig. Rotating base plate.

Control System

• Module 1- Stair Climbing Vehicle Part

• Module 2- Robotic Arm Part

Module 1- Stair Climbing Vehicle Part

Instruments1.24V Gear Motor2.Motor Driver L293D3.24V DC Power supply4.IC 7404 5.IC 74326.Capacitor7.Breadboard8.Vero board9.Push switch

Control-2 way1. Serial Joystick2. Interfacing stair climbing

robot with PC

Module 1- Stair Climbing Vehicle Part

Fig. Complete circuit diagram of module 1.

• Like human hand

• Can sense the weight

• Sort objects according to their weight

Module 2- Robotic Arm Part

Module 2- Robotic Arm Part

Fig. Control system (block diagram) of module 2.

Module 2- Robotic Arm Part

Fig. Control system (block diagram) of module 2.

Fig. Calibration curve of LVDT for module 2.

The main concern of this paper is to fabricate a robot with locallyavailable material that can be used not only for the rescuepurpose but also for any types of industrial operation.

Conclusion

Thanks to all