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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