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About Us…. The lack of robotics exposure urged to the conceptualization
of Technophilia in 2005.
We are a national leader in Robotics Education and providing
solutions in Robotics and Embedded System Design.
Our courses have been conducted in all the major IIT’s and
NIT’s thus amounting to training more than 25,000 students
across India.
Our Domains…..
Currently Technophilia is largely divided into four domains:
Technophilia Training Centre (for Engineering Students).
Technophilia RoboCubs (for School & Jr. College Students).
Technophilia Embedded Systems (PG Courses for Graduates
and Professionals).
Technophilia Industrial Solutions – Research & Development.
Places We Have Reached• BITS Pilani
• Thapar University Patiala
• ITM Gurgaon
• IIIT Allahabad
• NSIT Delhi
• SASTRA University
• BITS Pilani – Goa
• VIT Pune
• SPCE Mumbai
• DIT Dehradun
• KIIT Bhubaneshwar
• MIT Pune
• SRM University Chennai
• IIT Kanpur• IIT Bombay• IIT Kharagpur• IIT Roorkee• IIT Guwahati• NIT Calicut• NIT Warangal• NIT Durgapur• NIT Srinagar • NIT Silchar• NIT Jamshedpur• Anna University.• MITCOE Pune• KJSCOE
• MSRIT Bangalore• HRIT Ghaziabad• SCTCE Trivandrum• NMIMS Mumbai• IEET baddi• RIET Jaipur• AEC Agra• KLCE Vijayawada• GHRCE Nagpur• LNMIIT Jaipur• HCST Mathura• Hindustan Univ. Chennai• KITE Jaipur• GITAM Univ. Vizag• NERIST Itanagar
ROBOT
ROBOT
What is a ROBOT ?
Define a ROBOT in your own words?
ROBOT
Electro-mechanical device
It find uses in all aspects of our life.
Performs Various tasks
May be human controlled or automated
WHAT IS A ROBOT?
DEFINITION
“A reprogrammable, multifunctional manipulatordesigned to move material, parts, tools, orspecialized devices through various programmedmotions for performing a variety of tasks.”
- Robot Institute of America, 1979
RESEARCH
APPLICATIONS
INDUSTRY
MEDICAL
MILITARY
SPACE EXPLORATION
APPLICATION IN INDUSTRY
Material Handling
A robot is required to palletize soft packages onto a pallet.
Handle with care: Robotic System Packages muffins.
Automotive Welding & Painting
APPLICATION IN MILITARY
Drone Aircrafts
Drone Planes being used by the U.S army to keep a watch on key enemy installations and enemy movement using thermal imaging and image processing
Bomb Disposal
Bomb disposal robots make a dangerous job a little less hazardous. They're designed to search for, locate and neutralize explosive devices.
They are equipped with manipulators, tools and cameras, and controlled through remote.
APPLICATION IN MEDICAL
Telesurgery
The idea of Robots Performing open-heart Surgery sounds like Science fiction but recently this idea has become a reality.
Ex: Da Vinci surgical system
APPLICATION IN RESEARCH &
SPACE EXPLORATION
NASA’s ATHLETE – All Terrain Hex Limbed Extra Terrestrial Explorer
N.A.S.A.’s A.T.H.L.E.T.E.
Exploring other planets
A.S.I.M.O
Advanced Step in Innovative MObility develop by Honda.
Features: Moving objects, postures, gestures, environment recognition, facial recognition etc. First prototype in the year 1986.
Future Ahead: A.S.I.M.O.
TYPES OF ROBOTROBOT
S
MANUAL
WIRED WIRELESS
AUTONOMUS
PRE-
PROGRAMMED
SELF
LEARNING
SEMI-AUTONOMOUS
Basic Parts of a Robot
Mechanical System
Actuators
Power Supply System
Sensors
Controller
Communication System
Basic Parts of a Robot
Actuators : Motors
Mechanical System / Frame : Chassis
Controller : µp/µc/Logic Gates/Switches
Communication System : Wired/Wireless
Power Supply System : AC/DCSensors: CameraMikeObstacleLight
MECHANICAL SYSTEM
Mechanical System
It is the important part of the robot.
It comprises of motor, wheels ,gears and their placement.
It gives a shape to your robot i.e. either vehicle, humanoid type. Etc
It gives locomotion to the robot, generally differential drive is used.
Wheeled Locomotion Systems
Differential drive
Car type drive
Synchronous drive
Wheeled Locomotion Systems:Differential Drive
Wheeled Locomotion Systems:Car Type Drive
Wheeled Locomotion Systems:Synchronous Drive
ACTUATORS
Actuators
They convert the electrical energy into meaningful mechanical work.
Mechanical output can be rotational or translational(straight line).
Generally motors provide rotational motion. Electromagnets ,hydraulics, pneumatic system provide linear motion .
MOTORS PNEUMATIC CYLINDER
HYDRAULIC CYLINDER
Different Types of Motors
• Not used much in roboticsAC Motors
• For controlled rotationStepper Motors
• Finds extensive general useDC Motors
• DC motor with in built feedback & error compensation
Servo Motors
POWER SUPPLY SYSTEM
Power Supply System
Suitable power source is needed to run the robots.
Robots are most suitably powered by batteries.
The weight and energy capacity of the batteries may become the determinative factor of its performance.
Lead Acid Battery.
Nickel Cadmium Battery
Lithium Ion Battery
Nickel Metal Hydride(NiMH)
Zinc Carbon (ZnC).
Different types of Batteries
Voltage regulators produce fixed DC output voltage from variable DC (a small amount of AC on it).
There are two types of voltage regulators
1. Fixed voltage regulators(78xx,79xx)
2. Variable voltage regulators(LM317)
In fixed voltage regulators there is another classification
1. +ve voltage regulators
2. -ve voltage regulators
Voltage Regulator
Voltage Regulator The mainly available 78xx IC's are 7805, 7809, 7812, 7815, 7824. Mostly available -ve voltage regulators are of 79xx family.
7805
7905
AMS1117- 5.0
Positive Voltage Regulator This include 78xx voltage regulators. The most commonly used ones are 7805 and 7812. 7805 gives fixed 5V DC voltage if input voltage is in (7.5V,20V).
> + 7.5 V 5 V
+5 V
0 V
Unregulated DC (with small amount of AC ) Voltage
Regulated Voltage
SENSORS
Sensors
Analogous to human sensory organs: Eyes, ears, nose, tongue, skin.
Provides feedback control.
Help robot to know its surroundings better.
Improves its actions and decision making ability.
Types of Sensors
OPTICAL SENSORS / LIGHT SENSORS
LDR Photo Diode
LED Modulated IR
IR Led Photo Transistor
Camera
SOUND SENSOR
Microphone
Ultrasonic Sensor
Light Emitting Diodes(LED’s)
In a normal forward biased diode, energy is dissipated as heat in the junction, but in LED's energy is dissipated as visible light.
Infra Red LED(IR LED’s)
The major difference between LED and IR LED is that IR LED emits Infrared Radiations, which we cannot see by our naked eyes.
We use IR LED with photo diode as a sensor, as it is less prone to external light effects compared to LDR+LED combination.
Photo Diode
•Type of photo detector.
• Capable of converting light into either current.
Modulated IR Receiver Module
If you want a good distance then you should use 38Khz modulated IR with TSOP1738detector. Use IC555 to generate 38Khz square wave.
Light Dependent Resistor(LDR)
SPECIFICATIONS
•Resistance : 400Ω to 400KΩ
•Normal Resistance variation: 1KΩ to 10KΩ
•Sensitivity: About 3 msec
Transistors:- As a Switch
Digital Optical Sensor
Optical Sensor
• Short range optical detector.
• Reasonably narrow detection
area.
• Range can be increased by
increasing the power to the IR
LEDs or adding more IR LEDs.
Light sensor using LDR & Transistor
SPST (Single Pole Single Throw)
SPDT(Single Pole Double Throw)
DPDT (Double Pole Double Throw)
CONNECTION & WORKING OF DPDT SWITCHES
M
1 6
3
2 5
4
+ -
+ -
M
1 6
3
2 5
4
+ -
+ -
M
1 6
3
2 5
4
M
1 6
3
2 5
4
M
1 6
3
2 5
4
+ -
+ -
M
1 6
3
2 5
4
M
1 6
3
2 5
4
M
1 6
3
2 5
4
+ -
+ -
Relays
A relay is an electro-mechanical operated switch.
Motor Driver Using Transistor
Basic Integrated circuits
In electronics, an integrated circuit is a miniaturized electronic circuit that has been manufactured in the surface of a thinsubstrate of semiconductor material.
Basic Integrated circuits
1) Multiple components (transistors, diodes, etc) built into a small single package.2) P and N type silicon encased in plastic shell with leads.2) Analog ICs deal with varying levels of voltage.3) Digital ICs deal with only high (1) or low (0) states.4) ICs are labeled with part number and manufacturing info.
Identifying an IC
1) All ICs have useful datasheets which can be found by entering the part # into www.digchip.com.2) Datasheets contain package information, electrical information, pin diagram, and hopefully application notes. 3) ICs come in a variety of packages. 4) Surface mount components are extra small. 5) DIP (Dual in line package) have pins spaced .1 inches apart, just like your breadboard. 5) The top of an IC is typically marked with a notch or dot, or both.5) Pins are numbered counterclockwise, starting in the upper left.
Basic Integrated circuits
They often classified by the number of transistors and other electronic components they contain:1. SSI: Up to 100 electronic components per chip2. MSI: From 100 to 3,000 electronic components per chip3. LSI : From 3,000 to 100,000 electronic components per chip4. VLSI : From 100,000 to 1,000,000 electronic components per
chip5. ULSI: More than 1 million electronic components per chip
Motor Driver IC –L293D and L298D
Hands OnSession
MOBITRONIX
Your checklist……………
MOTHERBOARD
Chassis
One
D.C. motor
Two
Upper &
Lower
Plate
Two
Caster wheel
Two
Optical Sensor
Two
Battery Snapper
Two
IR Remote
One
Sound Sensor
One
DTMF Module
One
9V
battery
Three
Wheels
Two
Sensor
Connector
Two
3.5mm
Audio
Connector
One
Screw
Driver
One
Nut, Bolt,
Screws &
Spacers Pouch
One
Mount the motors on the chassis as shown below
Fix wheels to the shaft of the motors
Fix the caster wheel on the lower plate & lower plate to the chassis
Place the Batteries at the upper side of the chassis
Fix the mother board on the upper plate by using the spacers & fix the upper plate on the chassis
MOBITRONIX
Logic Gates
Inverter
AND
OR
XOR
NAND
NOR
XNOR
A logic gate performs a logical operation on one or more logic inputs and produces a single logic output.
Main Mother Board
DIP 1: Address SettingDIP 2: 1234:Decoder to L293D5678: Direct to L293DDIP 3: 1278: VT to L293D3456: NOT Gate to L293D
MOTHER BOARDSimple block diagram
INFRARED RECIEVER
SENSOR(OPTICAL)
SENSOR(OPTICAL)
DECODER
NOT GATE
SWITCH
SWITCH
MOTOR DRIVER
IC
MOTOR
IR TX
DATA-6PIN BERG STRIP
DATA –4 PIN BERG STRIP
MOBITRONIX Motherboard’s Block Diagram
Different types of robot that we can make
•IR-Wireless controlled. •Line follower. •Obstacle avoider. •Object follower. •Photophobic. •Phototropic. •Wall Follower. •Fire fighter. •Mobile phone controlled robot •Sound controlled robot •Time controlled robot
IR-WIRELESS CONTROLLEDROBOT
Transmitter circuit
Switch connections of remote
Remote Configuration
TSOP &Decoder circuit Diagram
Receiver Configuration
Make the switch 1,2,3,4 - ON5,6,7,8 - OFF
Make the switch no 7-ON
Make the switch no 2-ON
Receiver circuit Diagram
Motor Driver ICL293D
1
Input pins
Output pins
EA
EB
I/P1
1
1
Check Enable
Check Enable
1
I/P2
I/P3
I/P4
0
0
0
O/p2
O/p3
O/p4
12V
0
0
0
0
0
0
O/p1M
M
Motor Driver ICL293D
0
Input pins
Output pins
EA
EB
I/P1
1
1
Check Enable
Check Enable
0
I/P2
I/P3
I/P4
0
0
0
O/p2
O/p3
O/p4
0
0
0
0
0
0
0
O/p1M
M
Motor Driver ICL293D
0
Input pins
Output pins
EA
EB
I/P1
1
1
Check Enable
Check Enable
0
I/P2
I/P3
I/P4
1
0
0
O/p2
O/p3
O/p4
0
12V
0
0
1
0
0
O/p1M
M
Motor Driver ICL293D
1
Input pins
Output pins
EA
EB
I/P1
1
1
Check Enable
Check Enable
1
I/P2
I/P3
I/P4
1
0
0
O/p2
O/p3
O/p4
12V
12V
0
0
1
0
0
O/p1M
M
Motor Driver ICL293D
0
Input pins
Output pins
EA
EB
I/P1
1
1
Check Enable
Check Enable
0
I/P2
I/P3
I/P4
1
1
0
O/p2
O/p3
O/p4
0
12V
12V
0
1
0
1
O/p1M
M
LINE FOLLOWER ROBOT
Connecting the sensors to your robot to make it
AUTONOMOUS
Fix the sensors to the plate as shown below
Black Line Follower Configuration
5 & 7 of DIP switch 2 is ON
DIP switch 3 OFF
Connect the 2 line sensor at D1 and D3 of 6pin berg stick
Line Follower Connection
Line Sensor1
Line Sensor2
OBSTACLE AVOIDER ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”
Left Obstacle sensors on EN1 Right Obstacle Sensor on EN2
OBSTACLE AVOIDER ROBOT
OBSTACLE FOLLOWER ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”
Right Obstacle sensors on EN1 Left Obstacle Sensor on EN2
PHOTOPHOBIC ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”
Left Obstacle sensors on EN1 Right Obstacle Sensor on EN2
PHOTOTROPIC ROBOT5, 6, 7, 8 of DIP switch 2 as “1010”
Right Obstacle sensors on EN1 Left Obstacle Sensor on EN2
MOBILE PHONE CONTROLLEDROBOT
DTMF Cont.
1209 Hz 1336 Hz 1477 Hz
697 Hz 1 2 3
770 Hz 4 5 6
852 Hz 7 8 9
941 Hz * 0 #
The DTMF Keypad
APPLICATION OF DTMF
DTMF Module
Insert the D0-D3 of DTMF Module to inv. Input data pin
(D0-D3).
Make the Switch 3(DIP) 3,4,5,6 - ON
MOBILE PHONE CONTROLLEDROBOT
Step 1: Keep all switches of DIP switch 1 and DIP switch 2 at OFF position.
Step 2: Keep 6 & 4 0f DIP switch 3 ON.
Step 3: Connect the two pins of the sound sensor on the D0’ and D2’ pins of the 4-pin berg strip
SENSE- Anti clockwise – high sensitivity
Clockwise – low sensitivity
TIME – Anti clockwise – less time
Clockwise – more time
SOUND CONTROLLED ROBOT
TIME CONTROLLED ROBOT
Steps to be followed Step 1: Connect the sound sensor on the 2 pin berg strip of the
main board.
Step 2: Switch ON the pins 5 and 7 of DIP Switch – 2 while switch all the other pins OFF.
Step 3: Switch ON the Pins 1 and 8 of the DIP Switch - 3.
Step 4: Adjust the TIME potentiometer of the sound sensor so as to fix a certain time for the motors to stop or keep moving.
FIRE FIGHTING ROBOT
Make switch no 8 -ON
Make switch no 1-ON
SWITCHES ACTION
5,7 ON
DIP SWITCH 3
DIP SWITCH 2
Connect one line sensor at EN of 2 pin Berg stick
Fire Fighting robot
ANY QUESTIONS ??