DESIGN AND FUNCTIONALITY OF METAL COLLECTING ROBOT

Transcription

1 DESIGN AND FUNCTIONALITY OF METAL COLLECTING ROBOT JOEL P JOHN HEPSIBA SEELI & V.PAVAN KUMAR Student, Mechanical Dept., Pydah Kaushik College of Engineering, Visakhapatnam Asst. Professor, Mechanical Dept., BABA Institute of Technology & Sciences, Visakhapatnam Student, Mechanical Dept., BABA Institute of Technology & Sciences, Visakhapatnam Joeljhon95@ gmail.com seelihepsi@gmail.com Article Info Keyword: Arduino programming, Bluetooth module, DC & Servo motors, Metal collecting robot, Ultrasonic sensors. ABSTRACT The paper consists of a project done to develop a robotic vehicle that can sense metals ahead of it on its path similar to sensing land mines. The robot can also be controlled by a mobile using Bluetooth module. It consists of a metal detector circuit interfaced to the control unit that alarms the user behind it about a metal ahead. An Arduino series of microcontroller is used for the desired operation. In general, industrial robots and many were enhanced with grippers as an end effector to pick the object, but this robot uses the electromagnetic principle for picking the objects. To further the project can be enhanced by mounting a wireless camera on the robot so that the operator can control the movement of the robot remotely by watching it on a screen. This Robot is constituted with an Ultrasonic sensor for obstacle avoidance, Micro controller Atmel at mega 329, Arduino UNO board, Relay board, Bluetooth module, Metal detecting sensor, Electromagnet, DC & Servo motors. Adopting this type of Robot helps in metal detection and in loading and unloading of metal. 53

2 Copyright 2015 Open Journal of Technology & Engineering Disciplines (OJTED) All rights reserved. INTRODUCTION In recent times, researchers were working to find possible solutions related with Autonomous Robot, which has multiple sensors for accurate analysis. Based on this analysis, the robot can make independent decisions to pick up metal which comes in its path. but it is not possible to implement these robots in all type of environments due to its high-cost factor. We decided to design and implement our own metal collecting robot. In this work, some factors have been considered such as cost, size, flexibility, weight, and autonomy. This work consists of four units locomotion, detection, pickup, and control. We explain the inverse and forward kinematics to obtain joint angles for smooth movement, the DC motors and ultrasonic sensor movements. I. BACKGROUND Majority of the robots manufactured, fulfils the Three Laws of Robotics proposed by Issac Asimov and it s Zeroth law which was later added. During the 18 th century, scientists and inventors have created an impressive array of mechanical figures that looked and acted like humans and other animals. Many of these early accomplishments had little practical value. They were built in order to impress or charm viewers or to demonstrate the inventor's creative and technological skills. Later robots classified under different applications were made. Industrial robots using articulated arms 54

3 specifically developed for such applications as welding, material handling, painting and others were made for accuracy and efficiency. Fig.-1: Industrial Robots Domestic or household robots including many quite different devices such as robotic vacuum cleaners, robotic pool cleaners, sweepers, gutter cleaners and other robots that can do different chores have been developed for luxury living. Medical robots for surgery and lifting aides have been made. Military robots as bomb disposal robots, different transportation robots, reconnaissance drones are being used in law enforcement, search and rescue and other related fields. Entertainment robots starting with toy robots such as Robosapien, a running alarm clock to the extent of real heavyweights such as articulated robot arms used as motion simulators were upgraded. Space robots found it s highly valid application in International Space Station. Cana arm was used in Shuttles, as well as Mars rovers. Even basing on its locomotion and kinematics, robots were developed. Fig.-2: Legged Robot 55

4 Stationary robots (including robotic arms with a global axis of movement), Wheeled robots, Legged robots, Swimming robots, Swarm robots, Mobile Spherical robots (robotic balls), Flying robots and many another robot designs are being functioned. II. DESIGN SPECIFICATIONS & ANALYSIS Parts Used In This Design: ULTRASONIC SENSOR- It has a unique piezoelectric ceramics manufacturing technology, which has developed a very high performance though being compact. Fig.-3: Ultrasonic sensor ARDUINO UNO BOARD- This microprocessor enables us to write programs and create interface circuits to read switches and other sensors, and to control motors and lights with very little effort.the Duemilanove board features an Atmel ATmega328 microcontroller operating at 5 V with 2Kb of RAM, 32 Kb of flash memory for storing programs and 1 Kb of EEPROM for storing parameters. The clock speed is 16 MHz, which translates to about executing about 300,000 lines of C source code per second. The board has 14 digital I/O pins and 6 analog input pins. The Arduino programming language is a simplified version of C/C++. 56

5 Fig.-4: Arduino Uno Board RELAY BOARD- It can be used to turn devices on/off while keeping them isolated from your microcontroller. The Single Relay Board allows you to control high-power devices (up to 10 A) via the on-board relay. Fig.-5: Relay Board BLUETOOTH MODULE- Blue Control is a basic universal Remote Control for Blue-Tooth enabled serial devices such as Blue Tooth modules connected to a micro-controller. For each button pressed the corresponding ASCII code for the label will be sent. 57

6 Fig.-6: Bluetooth Module METAL DETECTING SENSOR- It consists of an oscillator producing an alternating current that passes through a coil producing an alternating magnetic field. It is useful for finding metal inclusions hidden within objects, or metal objects buried underground. Fig.-7: Metal Detecting Sensors ELECTROMAGNETS- They are magnets that are created when there is electric current flowing in a wire. The simplest electromagnet uses a coil of wire, often wrapped around some iron. Because iron is magnetic, it concentrates the magnetic field created by the current in the coil. Fig.-8: Electromagnet DC MOTORS- A class of electrical machines that converts direct current electrical power into mechanical power. The most common types rely on the forces produced by magnetic fields. It has an internal mechanism, either electromechanical or electronic, to periodically change the direction of current flow in part of the motor. 58

7 Fig.-9: DC Motors SERVO MOTOR- It is a rotary or linear actuator, that allows for precise control of angular or linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback also requiring a relatively sophisticated controller, often a dedicated module designed specifically for use with servomotors. Fig.-10: Servo Motors Construction: It consists of chassis made of a wooden sheet. A foam sheet is placed above the chassis, which acts as a metal carrier. DC Motors are placed below the chassis, which helps in locomotion of the robot. Three Servo motors are placed on the chassis i.e., wooden frame, which helps in actuation of a robotic arm. Electromagnet and metal detecting sensor are attached on either side of the bar(foam sheet) and the bar is attached to one of the servo motor (i.e., second servo). The Ultrasonic sensor is placed just before a robot, which helps in obstacle avoidance. An Infrared sensor is also placed below the chassis to guide the robot. III. RESEARCH & FUNCTIONALITY Principle: This metal collecting robot works under the electromagnetic principle which helps in loading and unloading of metal. 59

8 Fig.-11: Circuit Diagram This robot is made to work in the field of metal dispersion areas such as workshops, hospitals, land mines etc. It sets motion by itself through the DC motors of 900grams torque and 200 rpm. 3 servos helps in actuation of metal detector from (50 0 to ) and servo 1 helps in flipping the bar i.e., from metal detector to electromagnet and servo 2(36 0 to ) helps in dumping the metal in its carrier. The moving robot then detects the metal which comes in its path using metal detecting sensor which was attached to the bar connected to servo 3. Fig.-12: Metal Collecting Robot The sensor gives information to the microcontroller which further actuates servo 1 to pick the metal that was detected using the electromagnet. As the either side of the bar is equipped with the electromagnet, it picks the metal that was detected by metal detecting sensor and again comes to its original position using servo 1. Then servo 2 helps in loading the metal by deactivating electromagnet 60

9 using the microcontroller in which program has been dumped. When the task is completed all the servo s will come to its original position and the loop continues. This work will be continued till the carrier gets filled. This filling will be detected by a sensor, constantly sending information to the microcontroller. This microcontroller guides the robot to the place where the metal has to be unloaded. Thus the metal detected in its path will be loaded and unloaded. IV. CONCLUSION Our research in designing a robot that can detect and collect the metallic object in a specific area using electromagnetic principle and also operate the robot remotely using Bluetooth module is clearly presented. This helps in operating robot in hazardous conditions. We use Arduino UNO microcontroller with a motor shield to control this robot. We presented the working of this robotic system which can monitor in the actual environment. Finally, this Robotic system can be extended to use in different applications. Further, mounting a camera helps in capturing some of the data detected in its path such as collecting the sample photographs of detected metal in space and to know the condition of a person or people struck in coal mines and also to take the pictures of detected in a place where human hazardous condition. Artificial intelligence, robots working in a crew, garbage collecting cart, etc.. are some applications and future scopes by using this method. V. ACKNOWLEDGEMENT We wish to thank other college Faculty members, students and our lab technicians for helping us throughout working on the paper. VI. REFERENCES [1] "Zen Robotics Recycling." 15 Feb [2] "Lynx motion Aluminum A4WD1 Rover Kit." - Robot Shop Dec [3] Becker, Joseph F., Prof. "Induction." San Jose State University, 07 Dec [4] "Ultrasonic Distance Sensor." PING Nov [5] "Arduino Motor Shield" jmaecm Dec [6] Robotics and autonomous systems taken from the Elsevier journal written by K.Berns, R.Dillmann in