Design and Fabrication of an Autonomous obstacle avoider line tracer robot with industrial Gripper

This report is submitted to the department of Mechanical Engineering, CUET for partial fulfillment of the requirement for the award of the degree of Bachelor of Science In Mechanical Engineering

Prepared and submitted By Sunzida Chowdhury Student ID: 0803008

Under the supervision of Dr. S.M. Humayun Kabir Assistant Professor Department of Mechanical Engineering Chittagong University of Engineering and Technology Bangladesh

Department of Mechanical Engineering

CHITTAGONG UNIVERSITY OF ENGINEERING AND TECHNOLOGY CUET

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Abstract
An autonomous line tracker robot runs by detecting two different colors. Using optical sensors it detects those colors and changes its position according to the sensor data provided. It is a differential drive Car robot. It can turn a semi elliptical path, S typed turn, 90 degree turn, 180 degree turn and straight running. If it faces a 30 degree elevated bridge on its way then it can climb on it and drive down from it autonomously. If it faces any obstacles on its way of running it will stop or find other ways out, instead of being getting obstructed with it. If it gets itself at the edge of its way then it will turn 180 degree angle by differential driving and prepare to get homing back. It will be consisted with an industrial gripper which will be able to grip and displace objects of definite sizes and shapes. A meccano gripper mechanism will be applied to complete this task. These kinds of robots are widely used in industrial purpose. It drives itself to a fixed way in the industry and for being obstacle avoiding characterized it doesnt harm any human being or industrial objects by its nature. By gripping and depositing objects to specific places it doesnt get tired or bored, thus it is a perfect choice as an industrial robot which consumes time, energy and increases production at a specified time period.

ACKNOWLEDGEMENT
I am grateful to my honorable project supervisor DR.S.M HUMAYUN KABIR Assistant Professor, Department of Mechanical engineering, CUET for his cordial guideless and instruction in doing the project. I would like to extend my thanks to all the faculty members and stuff members of the Mechanical Engineering Department of CUET for helping me in doing this project.

December 2012 CUET, Chittagong

Author

CONTENTS Abstract Acknowledgement Chapter 1: Introduction

1.1 Introduction 1.2 Objectives 1.3 Importance of this study 1.4 Uses

II III 6
6 6 7 7

Chapter 2: Literature Review

2.1 Robots Characteristics 2.2 Laws of Robotics

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Chapter 3: Methodology
3.1 Introduce 3.2 Methodology 3.3 Flow Chart

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Chapter 4: Design and components

4.1 Mechanical Components 4.2 Electrical Components -

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Chapter 5: Result and discussion Chapter 6: Conclusion References

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Table of Figure

FIGURE 4.1 Chassis ...................................................................................................... 13 FIGURE 4.2 Wheel ........................................................................................................ 13 FIGURE 4.3 Gripper ...................................................................................................... 13 FIGURE 4.4 Typical DC Gear Head Motor ..................................................................14 FIGURE 4.5 Typical Servo Motor ............................................................................... 14 FIGURE 4.6 ATMEGA32A Microcontroller .............................................................. 15 FIGURE 4.7 ATMEGA32A Microcontroller Pin Configuration ................................ 15

Chapter 1 Introduction

1.1 Introduction A robot is a virtual or mechanical artificial agent. In practice, it is usually an electromechanical system which, by its appearance or movements, conveys a sense that it has intent or agency of its own. The word robot can refer to both physical robots and virtual software agents, but the latter are usually referred to as bots. There is no consensus on which machines qualify as robots, but there is general agreement among experts and the public that robots tend to do some or all of the following: move around, operate a mechanical limb, sense and manipulate their environment, and exhibit intelligent behavior, especially behavior which mimics humans or other animals. [1] Autonomous robots are robots that can perform desired tasks in unstructured environments without continuous human guidance. Many kinds of robots have some degree of autonomy. Different robots can be autonomous in different ways. A high degree of autonomy is particularly desirable in fields such as space exploration, cleaning floors, mowing lawns, and waste water treatment. [5] We will go for designing and fabricating an autonomous obstacle avoider line tracker robot with industrial gripper which will track two colors and grip any definite shape of object.

1.2 Objective It will be a autonomous obstacle avoider robot. It will track two colors so that it will be a line tracker robot. It will able to grip any definite shape of object by a meccno gripper.

1.3 Importance of this study Robots reduce the human effort and increase the productivity. It consumes time and gives more efficient performance because it never gets tired or exhausted. It gives clarity in the work. Because of robots efficiency and consistency wastage in production decreases over the time therefore it maximize the profit level, for this reason big industries are more interested in Robots now a day.

1.4 Uses These kinds of robots are widely used in industrial purpose. It drives itself to a fixed way in the industry and for being obstacle avoiding characterized it doesnt harm any human being or industrial objects by its nature. By gripping and depositing objects to specific places it doesnt get tired or bored, thus it is a perfect choice as an industrial robot which consumes time, energy and increases production at a specified time period.

Chapter 2 Literature review

2.1 Robots Characteristics While there is no single correct definition of "Robot", a typical robot will have several or possibly all of the following properties. [4]

It is artificially created. It can sense its environment, and manipulate or interact with things in it. It has some ability to make choices based on the environment, often using automatic control or a preprogrammed sequence. It is programmable. It moves with one or more axes of rotation or translation. It makes dexterous coordinated movements. It moves without direct human intervention. It appears to have intent or agency.

The last property, the appearance of agency, is important when people are considering whether to call a machine a robot, or just a machine For robotic engineers, the physical appearance of a machine is less important than the way its actions are controlled. The more the control system seems to have agency of its own, the more likely the machine is to be called a robot. An important feature of agency is the ability to make choices. [4] A clockwork machine is never considered a robot. A remotely operated vehicle is sometimes considered a robot (or telerobot). The manual machine manufactured could also be called as telerobot. A machine with an onboard computer, which could drive in a programmable sequence, might be called a robot. A self-controlled machine which could sense its environment and make driving decisions based on this information would quite likely be called a robot. A sentient machine which can make decisions, navigate freely and converse fluently with a human is usually considered a robot.

2.2 Laws of Robotics Over the years man has dreamed a machine similar to human beings. Many stories, dramas, science fictions has been written and read. Among them Isaac Asimov has gone so far that he addressed for three rules for a machine to be named as robot. Three Laws of Robotics are a set of three rules which are as follows: o A robot may not injure a human being or, through inaction, allow a human being to come to harm. o A robot must obey orders given to it by human beings, except where such orders would conflict with the First Law. o A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Although all the characteristics and rules mentioned above doesnt comply with the robots manufactured there are significant characteristics and developed AI (artificial intelligence) which could lead to call those as robots. [5]

The application-driven researches on autonomous robotic search having been paid continuous attentions for years, since robot(s) be capable of searching for target(s) taking the place of human beings in dangerous environment for secondary disaster avoidance. Thus the state of the art of this field was surveyed from the viewpoint of robotics, distributed sensor networks and intelligent control. First, a classification was proposed according to a metric of relative number relationship between robots and targets. Then the literature dealing with three modes, i.e., single-robot-single-target, multiple(swarm)-robotsingle-target, and multiple(swarm)-robot multiple-target was taken for review. Accordingly, the natural scientific issues concerned with each mode, control techniques, as well as typical applications were summarized respectively. Also, the technical characteristics of the existing approaches were comparatively analyzed for disaster searchand-rescue application. Finally, swarm intelligence-based cooperative control method for autonomous robotic search was examined significantly on demand of distributed artificial intelligent decision making technique, in order to give more exposure to the latest ideas around fields of wireless sensor network and intelligent robotics for promoting the level of disaster prevention and reduction with robotic technology. [6],[7],[8], [9]

Chapter 3 Methodology
3.1 Introduce It is a multi tasking robot runs by detecting two different color using optical sensors and it detects those colors and changes its position according the sensor data provided. It is a differential Car Robot. It can turn a semi elliptical path, S typed turn, 90 degree turn, 180 degree turn and straight running. If it faces a 30 degree elevated bridge on its way then it can climb on it and drive down from it autonomously. If it faces any obstacles on its way of running it will stop or find other ways out, instead of being getting obstructed with it. If it gets itself at the edge of its way then it will turn 180 degree angle by differential driving and prepare to get homing back. 3.2 Methodology 1. At first we will make our structure, for making structure we have to design the chassis and chain wheel respectively. 2. Then we will make meccano gripper for gripping object. 3. After making those several parts we will assemble the parts. 4. After structural process we will go for circuit design in PCV board. 5. Motor selection will be done by selecting DC gear head motor for chain wheel and Servo motor for meccano gripper and then motor controller L293 will be selected for motor controlling. 6. We will use AVR programming language at AVR studio compiler. 7. After doing all these process sequentially, tuning will be done for output.

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3.3 Flow chart

Chassis Designing

Chain Wheel Designing

Making Meccano gripper

Parts Assembling

PCV Circuit Designing

Motor Selection and controlling

Programming

Tuning

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Chapter 4 Design and components

4.1 Mechanical components o Wheels o Meccano Gripper o Spur Gears o Acrylic Sheet o Aluminum Bar o C-Clamp

4.2 Electrical Components o ATMEGA32A o Variable Register o L298 Motor Controller o Rectifier Diode o LM324 o Capacitor o 7805 IC o IR o Resistances o DC gear head motors, Servo motor

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Our desired chassis, wheel and gripper design are shown below.

Figure 4.1 Chassis

Figure 4.2 Wheel

Figure 4.3 Gripper

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All the desired typical motors and microcontroller are shown below which will be use in our project.

Figure 4.4 Typical DC gear Head Motor

Figure 4.5 Typical Servo Motor

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Figure 4.6 ATMEGA32A Microcontroller [3]

ATMEGA32A microcontroller Pin configuration [3]

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Chapter 5 Result and discussion

The project still on processing therefore we could not provide our result and discussion.

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Chapter 6 Conclusion
These kinds of robots are widely used in industrial purpose. It drives itself to a fixed way in the industry and for being obstacle avoiding characterized it doesnt harm any human being or industrial objects by its nature. By gripping and depositing objects to specific places it doesnt get tired or bored, thus it is a perfect choice as an industrial robot which consumes time, energy and increases production at a specified time period. We could make this robot in larger size but due to lack of financial support we have to make miniature form of this model. But now a days industries are highly preferred fully autonomous system. So we will use the prototype form of this autonomous robot in our industries because this robot cannot harm human being.

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References
1. Gordon McComb Second Edition ,The Robot Builders Bonanza 2. http://en.wiki.org 3. ATMEGA32A Datasheet (futurlec.com). 4. Hasnat jamil, S.G.M. Hossain and Muhammad Yakut ali ,Design and fabrication of The robots for the ABU ROBOCON robot contest 2006 and A simple brake dynamometer for motor testing. 5. Mazharul Islam, Mohammad Tanvir Rahman, Al Maqsudur Rashid, Md. Wahidur Rahman and Jewel das ,Development of Advanced Control System for Autonomous Mobile Robots. 6. R. Jarvis and M. Marzouqi, "Efficient Robotic Search Strategies for Finding Disaster Victims," in 3rd International Conference on Autonomous Robots and Agents, Palmerston North, New Zealand, 2006. 7. K. Zafar, S. Qazi, and A. Baig, "Mine Detection and Route Planning in Military Warfare using Multi Agent System," in 30th Annual International Computer Software and Applications Conference, vol. 2. IEEE, 2006. 8. Y. Meng and K. Cao, "Multi-Robot Searching for a Target using Game Theory," Robotics and Applications. 9. Marjovi, J. Nunes, L. Marques, and A. de Almeida, "Multi-robot exploration and fire searching," in IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2009. 10. Hayes, "Self-Organized Robotic System Design and Autonomous Odor Localization," Ph.D. dissertation, California Institute of Technology, USA, 2002.

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