Problem Statement Need to build a manually controlled robot capable of moving around and gripping and lifting objects. Basically we can divide this problem.

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Presentation transcript:

Problem Statement Need to build a manually controlled robot capable of moving around and gripping and lifting objects. Basically we can divide this problem into four major parts: Chassis Gripping Mechanism Lifting Mechanism Control System

Drive Mechanism Differential Drive: Parallel Drive: 2 wheel drive via motors 4 wheel drive via motors Parallel Drive: Steering is done using a steering wheel

Differential Drive Left and right wheels are independent. When both the wheels rotate at same speed, the robot moves in straight line. To turn, slow down the corresponding wheel.

Parallel Drive Left and Right wheels are dependent. Most of the cars use this mechanism. Generally, two wheel drive. Front wheels are free and are used for steering.

How to decide which motor to use? Torque required? Speed required? Power Source?

Gripping Mechanism Gripper: The part of robot used for gripping any object. No design is ideal for all application. Best design of the gripper till now is the replication of our hand.

Vacuum Gripper Very strong Grip Consumes lot of power Difficult to built

Roller Gripper Good for gripping balls. High precision required. Slow Alignment problems.

4 Bar Mechanism Advantages: Disadvantages: Ends stay parallel Automatic gripper locking Disadvantages: Difficult to manufacture. Precise calculation required.

Lifting Mechanism

Parallelogram Mechanism Objects orientation doesn’t change. Easy to carry around the objects

Four Bar Mechanism Object orientation doesn’t change. Easy to build. COM of robot remains low

Scissor Mechanism The object will follow a vertically straight line. Difficult to manufacture

Pulley, String, Sliders

Control System Need a switch. The best switch to drive a motor is 3 state 8 pin DPDT. Total no. of motors = Total no. of switches How to lock a motor?

Know your Components Two metal shaft motors: Two plastic shaft motors: Operating Voltage: 12V Torque: Speed: 60 rpm Two plastic shaft motors: Speed: 75 rpm Two plastic wheels: Diameter: 69mm Width: 7mm

>Next lecture > Abstract Submission > Google docs >Component distribution