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ROBOCON - 2009
ELECTRICAL ASPECTS
Motor Drivers1. Sabertooth Link -
http://www.dimensionengineering.com/Sabertooth2X10.htm
Dual motor driver Current: 10x2 A Voltage: upto 24V Price: $80 tried and tested, no problems
reported yet.
2. PololuLink-http
://www.robotshop.ca/home/products/robot-parts/motor-controllers/brushed-motor-controllers/motor-controllers-by-interface/pwm-motor-controllers/pololu-dual-motor-driver-9a.html
Dual motor driverCurrent: 2x9 AVoltage: upto 36VPrice: $50current limit slightly lower than
sabertoothSeems less hardy than sabertoothCost effective, worth a try
3. Bakatronics MXA066
Link :- http://www.bakatronics.com/shop/item.aspx?itemid=581
Single motor driver Current: 1x30AVoltage: 12/24V Price: $30 (=$60 effectively
for dual motors)very high current limit (of no
use to us though)Cost effective (since some of
our applications may require only single motor control)
Website and documentation not very credible
SENSORS (IFM)1) OO5006 Link :- http://
www.ifm.com/products/IND/ds/OO5006.htm
Specification:-
6 channels for 6 glass fibre optics No mutual optical interference Graphic display Electronic lock & Function check output
Sensing range:-
0 ... 400mm (Through-beam sensor) 0 ... 200mm (Diffuse reflection sensor)
Dimensions:-123.9X76.5X70.7mm
2). OK5001Link :-
http://www.ifm.com/products/IND/ds/OK5001.htm
Used last year
Sensing Range: 0 - 120mm (Through-
beam sensor) 0 - 40mm (Diffuse
reflection sensor)
Dimensions:- 50X30X19mm
Lithium Ion Batteries
Energy to weight ratio
No memory effectSlow loss of charge
when not in use1 battery for each
microcontroller circuit is to be used
1. Panasonic
http://www.panasonic.com/industrial/battery/oem/chem/lithion/
Produce 3.6 V Weight – around 45 g Capacity – vary from 2.05 -
2.5 Ah Cylindrical Prismatic have lower
capacity
Other Manufacturers Ultralife – http://www.ultralifebatteries.
com/dealer_info.php?ID=505 Banglore, India
Lithium ion Battery ChargerSeparate charging
circuit required since they can be damaged if overcharged
Diptrace diagram of circuit is shown
DISTANCE SENSORSRequirementThe need of using distance sensors arose
from the fact that Carrier bot (Autonomous) needed a signal to start moving once the traveller bot completes the task of boarding the kago.
The obstacle(traveller bot) is approximately 50 cm from the sensor and well within the range of 80 cm which the distance sensor can
successfully detect.
SHARP GP2D12 AVAILABILITY FEATURES5 sensors of the same
type are already available with us providing good number of backups.
The Sharp GP2D12 is an analog distance sensor that uses infrared to detect an object between 10 cm and 80 cm away. The GP2D12 provides a non-linear voltage output in relation to the distance an object is from the sensor and interfaces easily using any analog to digital converter.
ENCODERSRequirementsTask of synchronizing the cago height and angleMoving carrier bot after 2nd check point We are getting encoders from IFM and probably be
using them.
Incremental EncoderRU10456 encoders are already
availableDifferent from the
absolute in the sense they require only 2 sensors , hence cheaper
Work on 5V dc Can give accuracy upto
5000 counts per revolution
Absolute EncodersRN60262 encoders are availableThey require n contacts
for 2^n countsWork on 10-30V dc
EEPROMElectrically Erasable Programmable Read-Only
MemoryTo store small amounts of data that must be
saved when power is removed.We are using the serial interface to EEPROM.Price:-Freely available on microchip of any
memory size ranging from 128bit to 1Mb.
I²C™ Serial EEPROM
SPI Serial EEPROM