ABSTRACT

BLUETOOTH CONTROLLED MECANUM WHEEL ROBOT

Ali KARAKU, Zeynal Abidin ABA, smet ELK
Graduation Project in Department of Electrical and Electronics Engineering
Supervisor : Assist. Prof. Dr. Ahmet Mete VURAL
May-2016
In this project, a Mecanum Wheel Robot is controlled by an Android device. Different
rotation combination of four DC motor make possible to go robot to any desired direction.
Because of special structure of wheels, robot can easily move to ten different direction.

CONTENTS

1.INTRODUCTION......................................................................................4
2.ARDUINO MEGA 2560............................................................................5
3.DC MOTOR...............................................................................................7
4.DC MOTOR DRVER..............................................................................8
5. BLUETOOTH MODULE........................................................................10
6. 6.LITHIUM POLYMER BATERES (LI-PO)......................................11

LIST OF TABLES

Table 1: Technical Specs of Arduiono Mega 2560 ....................................................6

Table 2; technical features of dc motor.......................................................................7

Table 3; Technical Features of DC Motor Driver.......................................................8

Table 3; Properties of Bateries......................................................................................11

1.INTRODUCTION

Robots are programmable mechanical devices that can faciliate human life. Robots are used
everywhere in human life. Humans use robots in their kitchen,sitting room etc. Mecanum
Wheel Robot is a different type robot that has great movement capacity. Aim of the Mecanum
Wheel Robot is to make accessible every direction. Every person, which has Android device
can control this robot directly.
In this project,we design a Mecanum Wheel Robot. Mecanum Wheel Robot is a mobile
system consist of 4 Mecanum Wheels. Each Mecanum wheels are connected to their own
motor. A Mecanum Wheel Robot includes two left mecanum wheels and two right mecanum
wheels. Depending on each individual wheel direction and speed, the Mecanum Wheel Robot
can move forward, backward, sideways and any other desired directions or spin. [1]

2.ARDUINO MEGA 2560

Figure 1: Arduino Mega 2560

Arduino Mega 2560 is a microcontroller board based on the ATmega2560 . It has a open
source library at internet that's why easy programmably . It is microcontroller system based
on C++.There are 54 digital input/output pins,16 analog inputs, 4 UARTs, one 16 MHz crystal
oscillator, one USB connection, one power jack, one ICSP header, and one reset button. It
includes everything needed to support the microcontroller. For starting, connect it to a
computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.

Table 1: Technical Specs of Arduiono Mega 2560 [2]

3.DC MOTOR
In robotic devices; dc motors can be use with reductor or without reductor. Reductors
consist of shafts and sprockets fitted into the body.The purpose of the reducers is trasmitte
power and creats moment. The technical features of dc motors shown in Table 4;

Input Voltage

5-12 V

Speed

500 Rpm

Current (no-load)

300 mA

Top Current (load)

5.6 A

Radius of Reductor

25 mm

Top Torque

6 kg-cm

Shaft Length

12.5 mm

Table 2; technical features of dc motor

4.DC MOTOR DRVER

DC Motor drivers are integrated circuits that are used to drive DC motors rotating in both
direction. TB6612FNG is a driver Integrated Circuit for DC motor with output transistor in
LD MOS structure with low ON-resistor. Two input signals, IN1and IN2, can choose one of
four modes such as CW, CCW, short brake, and stop mode.[3]

Power supply voltage; VM = 15 V(Max)

Output current; IOUT=1.2 A(ave) / 3.2 A (peak)

Output low ON resistor; 0.5 (upper+lower Typ. @VM 5 V)

Standby (Power save) system

CW / CCW / short brake / stop function modes

Built-in thermal shutdown circuit and low voltage detecting circuit

Small faced package(SSOP24: 0.65 mm Lead pitch)

Response to Pb free packaging

Table 3; Technical Features of DC Motor Driver

Connections of DC Motor Driver;

Figure 2; Connections of DC Motor Driver

5. BLUETOOTH MODULE
Bluetooth module is device that allow to communicate robot with a command device. The
HC-06 is a special type of bluetooh module. The HC-06 has 6 pins: wakeup, VCC, GND,
TXD, RXD and State. The HC-06 acts as a serial port through which you can send and
receive data. So using a serial terminal or a Bluetooth customized application on your
computer or phone, you can control and monitor your project. Connection of HC-06 is shown
in Figure 3;

Figure 3; Connection of Bluetooth Module

10

6.LITHIUM POLYMER BATERES (LI-PO)

Lipo battery is the battery which has lithium and polymer chemical components. Dissimilar
cylindrical and prismatic cells, LiPos come in a soft package or pouch, which not only makes
them lighter but also less rigid. Li-Po are very appropriate to use for robotic project, because
of its long life-time and ligthness. The properties of bateries that used in this project shown in
table 6;

7.4 V Li-Po

11.1 V

Li-Po

Cell Number

2S

3S

Voltage

5.4 8.4 V

9.1 12.1 V

Current

500 mA

800 mA

Weigth

53 gr

50 gr

Size

58x30x12 mm

58x30x17 mm

Table 3; Properties of Bateries

11

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