2. 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

3. 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

4. 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.

5. 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.

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

7. 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.

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

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

10. 4 Bar Mechanism Advantages: Disadvantages: Ends stay parallel
Automatic gripper locking
Disadvantages:
Difficult to manufacture.
Precise calculation required.

11. Lifting Mechanism

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

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

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

15. Pulley, String, Sliders

16. 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?

17. 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

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