rf controlled robotic system for object transportation

RF CONTROLLED ROBOTIC SYSTEM FOR OBJECT TRANSPORTATION

SUBMITTED BY

B.M. Al-Fahim

ID: EEE-110300111

Md. Neamot Ullah

ID: EEE-110300114

Md. Nazmul Hossain

ID: EEE-110300123

SUPERVISED BY

Ashraful Arefin Assistant Professor Department of Electrical & Electronic Engineering Northern University Bangladesh

September 2015

Department of Electrical and Electronic Engineering Northern University Bangladesh

DECLARATION We hereby, declare that the work presented in this project, titled, “RF Controlled Robotic System for Object Transportation” is the outcomes of the research work performed by us. We also declare that all the information and implementation of this thesis is our independent effort except otherwise specified. We also certify that this project has never been submitted for academic or employment credit.

Signature

__________________________ B.M. Al-Fahim ID-EEE110300111

__________________________ Md. Neamot Ullah ID-EEE110300114

__________________________ Md. Nazmul Hossain ID-EEE110300123

Countersigned

_________________________________________

Ashraful Arefin Assistant Professor Department of Electrical & Electronic Engineering Northern University Bangladesh i

Approval This is to certify that the project, titled, “RF Controlled Robotic System for Object Transportation”, submitted By B.M. Al-Fahim, ID: EEE110300111, Md Neamot Ullah , ID: EEE110300114, Md Nazmul Hossain, ID: EEE110300123, has been carried out under our supervision. It has been carried out in partial fulfillment of the requirements for the degree of Bachelor of Science (B.Sc.) in Electrical and Electronic Engineering in year of 2015 and has been approved as to its style and contents.

Board of Examiners

___________________________________ Ashraful Arefin (Supervisor) Assistant Professor Department of Electrical & Electronic Engineering Northern University Bangladesh

__________________________________ Dr. Mainul Islam Bhuiyan Associate Professor Department of Electrical & Electronic Engineering Northern University Bangladesh

___________________________________ ASM Shamsul Arefin Assistant Professor Department of Electrical & Electronic Engineering Northern University Bangladesh

___________________________________ Engr. Md. Badiuzzaman Associate Professor and Head Department of Electrical & Electronic Engineering Northern University Bangladesh

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ABSTRACT

Object transportation robots have become a very important part of modern science and exploration. These types of robots are used in various sectors including astronomy, mining and industries. In this report the design and construction of an object transportation robot have been described elaborately. This particular robot can be controlled from a remote distance using radio frequency. There are basically three major parts of this robot, receivertransmitter couple, chassis mounted on the wheels and the robotic arm. Two ATmega32 microcontrollers have been used for this purpose, one in the transmitter and the other in the receiver. In the receiver, this microcontroller receives the RF signal and controls the robot according to the instruction. The movement of this robot is controlled using four DC motors coupled with each wheel. The speeds of these DC motors determine whether the robot will go forward, reverse or take a turn. And finally three servo motors have been used to grab any object precisely, located in the shoulder, arm and claw. The accurate operation of all these three parts ensures the operation of the complete RF controlled robotic system for object transportation.

iii

ACKNOWLEDGMENTS

In the world no work has been completed after all, where there is no guidance and information. The project work is the result of more than one year duration during which we have been guided and supported by several persons. We are happy to see that, we have now the opportunity to present our gratitude to all of them.

Firstly, we offer million of heartfelt respect and thanks to Almighty Allah, who has given us the strength to complete this work successfully.

At the very beginning, we would like to present our immense gratitude and delightful thanks to our supervisor Ashraful Arefin, Assistant Professor, Department of EEE, NUB for giving us an opportunity to work on this subject, in which we found interest compared to convention course works. From the beginning, he supported us with incessant generosity.

We would also like to extend our warmest thanks to all the faculty members of our department as well as the head of the department Engr. Md. Badiuzzaman.

Finally a lot of thanks to our family and friends for their invaluable encouragement and supported all the way.

Authors September 2015

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TABLES OF CONTENTS Declaration ……………………………………………………………………………………………………………………. i Approval ………………………………………………………………………………………………………………………… ii Abstract…………………………………………………………………………………………………………………………. iii Acknowledgement………………………………………………………………………………………………………… iv

CHAPTER 1: INTRODUCTION 1.01 Robot

1

1.02 History of Robot

1

1.03 Modern Robots

2

1.03.1 Mobile Robots

2

1.03.2 Industrial Robots

2

1.03.3 Service Robots

2

1.03.4 Modular Robots

3

1.03.5 Collaborative Robots

3

1.03.6 Healthcare Robots

3

1.03.7Research Robots

4

1.04 Objective of this Project

4

1.05 Methodology

4

1.06 Block Diagram

5

1.07 Result

5

v

CHAPTER 2: DESCRIPTION OF EQUIPMENTS 2.01 Microcontroller IC (ATmega32)

6

2.02 RF 433MHz Module Radio Frequency (RF) definition

10

2.03 Encoder and Decoder

12

2.04 Voltage Regulator IC (LM7805)

16

2.05 DC Gear Motor

17

2.06 Servo Motor

18

CHAPTER 3: CONSTRUCTION OF ROBOTS 3.01 Battery Charging Section

21

3.02 Logic Power Supply Section

22

3.03 DC Motor Power Supply Section

23

3.04 Servo Motor Power Supply Section

24

3.05 RF Transmission Section

25

3.06 RF Receiver Section

26

3.07 ARM Section

27

3.08 CLAW Section

28

3.09 SHOULDER Section

29

3.10 FLOW CHART

30

3.11 Transmitter Circuit Diagram

31

3.12 Receiver Circuit Diagram

32

CHAPTER 4: FUTURE PROSPECTS 4.01 Future Prospects

34 vi

CHAPTER 5: CONCLUSION 5.01 The specific work

36

References

37

Appendix A

Code for Transmitter

38

Appendix B

Code for Receiver

41

Appendix C

Make File

47

vii

Chapter 1 Introduction

1.1 Robot

Figure 1.1: Robot A robot is a mechanical usually an electro-mechanical machine, which is guided by a computer program or electronic circuitry to carry out a variety of physical tasks or actions[1].

1.02 History of Robot From the time of ancient civilization there have been many accounts of user-configurable automated devices and even automata resembling animals and humans, designed primarily as entertainment. As mechanical techniques developed through the Industrial age, there appeared more practical applications such as automated machines, remote-control and wireless remote-control. Page 1 of 60

Robots have replaced humans in the assistance of performing those repetitive and dangerous tasks which humans prefer not to do, or are unable to do due to size limitations, or even those such as in outer space or at the bottom of the sea where humans could not survive the extreme environments.

1.03 Modern Robots: Now a day’s robot has already covered the field of industrial, service, educational, modular and collaborative purposes.

1.03.1 Mobile Robots Mobile robots have the capability to move around in their environment and are not fixed to one physical location. An example of a mobile robot that is in common use today is the automated guided vehicle.Mobile robots are also found in industry, military and security environments. They also appear as consumer products, for entertainment or to perform certain tasks like vacuum cleaning.

1.03.2 Industrial Robots Industrial robots an automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either, fixed in place or mobile for use in industrial automation applications. The robots include painting, assembly, pick and place,product inspection, and testing; all accomplished with high endurance, speed, and precision.

1.03.3 Service Robots Most commonly industrial robots are fixed robotic arms and manipulators used primarily for production and distribution of goods. The term "service robot" is less well-defined. "A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations." Page 2 of 60

1.03.4 Modular Robots Modular robots are a new breed of robots that are designed to increase the utilization of robots by modularizing their architecture. The functionality and effectiveness of a modular robot is easier to increase compared to conventional robots. These robots are composed of a single type of identical, several different identical module types.

1.03.5 Collaborative Robots A collaborative robot is a robot that can safely and effectively interact with human workers while performing simple industrial tasks. However, end-effectors and other environmental conditions may create hazards, and as such risk assessments should be done before using any industrial motion-control application. The collaborative robots most widely used in industries today.

1.03.6 Healthcare Robots

Figure 1.2:Healthcare Robots

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1.03.7 Research Robots While most robots today are installed in factories or homes, performing labor or life saving jobs, many new types of robot are being developed in laboratories around the world. Much of the research in robotics focuses not on specific industrial tasks, but on investigations into new types of robot, alternative ways to think about or design robots, and new ways to manufacture them. It is expected that these new types of robot will be able to solve real world problems when they are finally realized.Roughly half of all the robots in the world are in Asia, 32% in Europe, and 16% in North America, 1% in Australasia and 1% in Africa. 40% of all the robots in the world are in Japan, making Japan the country with the highest number of robots.

1.04Objective of this Project: Mobile Robots are capable of transporting objects, would reduce human labor to a great extent. This Object Transportation Robot can load objects onto hand carts for transport and also reduce the friction between the object and the floor and also the force necessary to transport the object. In case of emergency, this robot can redeem of the object, in where it is so risky area for the life such as gaseous region, deficiency of oxygen etc.

1.05 Methodology:  Studying on the Amplitude Shifting Key (ASK)  Studying on AVR Pulse Width Modulation (PWM)  Studying on AVR Timer  Studying on Servo Mechanism  Studying on Robotic Movement System  Studying on Robotic ARM  Studying on Motor Controlling System  Studying on Signal Encoding and Decoding

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1.06 Block Diagram

Transmitter: 15 Keys Logic Level (High / Low)

TTL Data

Convert 15 Pins Logic Level To 4 binary bits

TTL Data

Encode 4bits Signal (HT12E)

Serial Data

Transmitter (RF 433MHz)

Figure 1.3: Transmitter Block Diagram

Receiver:

Figure 1.4:Receiver Block Diagram

1.07 Result The performance of the system has been tested in lab. So that has been achieved goal. It can successfully transport object.

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Chapter 2 Description of Equipments 2.01 Microcontroller IC (ATmega32) A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals. Program memory in the form of Ferroelectric RAM, NOR flash or OTP ROM is also often included on chip, as well as a typically small amount of RAM. Microcontrollers are designed for embedded applications, in contrast to the microprocessors used in personal computers or other general purpose applications. Microcontrollers are used in automatically controlled products and devices, such as automobile engine control systems, implantable medical devices, remote controls, office machines, appliances, power tools, toys and other embedded systems. By reducing the size and cost compared to a design that uses a separate microprocessor, memory, and input/output devices, microcontrollers make it economical to digitally control even more devices and processes. Mixed signal microcontrollers are common, integrating analog components needed to control non-digital electronic systems. Some microcontrollers may use four-bit words and operate at clock rate frequencies as low as 4 kHz, for low power consumption (single-digit milliwatts or microwatts). They will generally have the ability to retain functionality while waiting for an event such as a button press or other interrupt; power consumption while sleeping (CPU clock and most peripherals off) may be just nanowatts, making many of them well suited for long lasting battery applications. Other microcontrollers may serve performance-critical roles, where they may need to act more like a digital signal processor (DSP), with higher clock speeds and power consumption[2].

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Different types of Micro-Controller: There are so many microcontroller families are available. Those are: 8051 , PIC (Programmable interface controller), AVRARM, etc.

AVR Micro-Controller: The AVR series Micro-Controller isdesigned and manufactured by Atmel Corporation. AVR microcontrollers: tinyAVR, megaAVR, XMEGA etc………..

tinyAVR: 

0.5 to 16 kb program memory



6-32 pin package



Limited peripheral on chip

 ATtiny series

megaAVR: 

4 – 512 kb program memory

 28 – 100-pin package 

Extended instruction set

 Extensive on-chip peripherals set  ATmega series

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XMEGA:  16 – 384 kb program memory  44 (A4), 64 (A3), 100 (A1) pin package  Extended performance features  Number of on-chip peripherals  Cryptography supported  ATxmega series

ATmega32:  Flash (Kbytes): 32 Kbytes  Number of PINs: 40  Max. Operating Freq. (MHz): 16 MHz  CPU: 8-bit AVR  Max I/O Pins: 32  EEPROM (Bytes): 1024

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Pin Out of ATmega32:

Figure 2.1 : Pin out ATmega32

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2.02 RF 433MHz Module Radio Frequency (RF) definition:[3]. Radio frequency (abbreviated RF) is a term that refers to alternating current (AC) having characteristics such that, if the current is input to an antenna, an electromagnetic (EM) field is generated suitable for wirelessbroadcasting and/or communications. These frequencies cover a significant portion of the electromagnetic radiation spectrum, extending from nine kilohertz (9 kHz),the lowest allocated wireless communications frequency (it's within the range of human hearing), to thousands of gigahertz(GHz). When an RF current is supplied to an antenna, it gives rise to an electromagnetic field that propagates through space. This field is sometimes called an RF field; in less technical jargon it is a "radio wave." Any RF field has a wavelength that is inversely proportional to the frequency. In the atmosphere or in outer space, if f is the frequency in megahertz and sis the wavelength in meters, then s = 300/f The frequency of an RF signal is inversely proportional to the wavelength of the EM field to which it corresponds. At 9 kHz, the free-space wavelength is approximately 33 kilometers (km) or 21 miles (mi). At the highest radio frequencies, the EM wavelengths measure approximately one millimeter (1 mm). As the frequency is increased beyond that of the RF spectrum, EM energy takes the form of infrared (IR), visible, ultraviolet (UV), X rays, and gamma rays. Many types of wireless devices make use of RF fields. Cordless and cellular telephone, radio and television broadcast stations, satellite communications systems, and two-way radio services all operate in the RF spectrum. Some wireless devices operate at IR or visible-light frequencies, whose electromagnetic wavelengths are shorter than those of RF-fields. Examples include most television-set remote-control boxes, some cordless computer keyboards and mice, and a few wireless hi-fi stereo headsets. The RF spectrum is divided into several ranges, or bands. With the exception of the lowestfrequency segment, each band represents an increaseoffrequencycorresponding to an order of magnitude (power of 10). The tabledepicts theeight bands in the RF spectrum, showing Page 10 of 60

frequency and bandwidth ranges. TheSHF and EHFbands are often referred to as the microwave spectrum. Designation

Abbreviation

Frequencies

Free-space Wavelengths

Very Low Frequency

VLF

9 kHz - 30 kHz

33 km - 10 km

Low Frequency

LF

30 kHz - 300 kHz

10 km - 1 km

Medium Frequency

MF

300 kHz - 3 MHz

1 km - 100 m

High Frequency

HF

3 MHz - 30 MHz

100 m - 10 m

Very High Frequency

VHF

30 MHz - 300 MHz

10 m - 1 m

Ultra High Frequency

UHF

300 MHz - 3 GHz

1 m - 100 mm

Super High Frequency

SHF

3 GHz - 30 GHz

100 mm - 10 mm

Extremely High Frequency

EHF

30 GHz - 300 GHz

10 mm - 1 mm

RF 433 MHz Modules:

Figure 2.2: RF 433 MHz Modules

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Transmitter Specs: 

Transmitter: JMR-TX1



Operating voltage: 3-12V



Operating frequency:433MHZ



Transmission distance:300-500m



Operating temperature :-20℃~60℃



Dimensions:11*16*5.5mm



Input signal :TTL level



Modulation system :ASK



modulate rate:3KB/S



frequency stability:±75KHZ



Transmitted Power：≥10mw



Pins :4

Receiver Specs: 

Receiver:RXB6



Working voltage: 5.0VDC +0.5V



Working current: ≤2.5mA (5.0VDC)



Working principle: superheterodyne



Working method: OOK/ASK



Operating frequency: 433MHz

2.03 Encoder and Decoder Encoder: An encoder is a device, circuit, transducer, software program, algorithm or person that converts information from one format or code to another, for the purposes of standardization, speed, secrecy, security or compressions[4].

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HT12E Encoder IC: HT12E is an encoder integrated circuit of 212 series of encoders. They are paired with 212 series of decoders for use in remote control system applications. It is mainly used in interfacing RF and infrared circuits. The chosen pair of encoder/decoder should have same number of addresses and data format.

Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit parallel data into serial for transmission through an RF transmitter. These 12 bits are divided into 8 address bits and 4 data bits.

HT12E has a transmission enable pin which is active low. When a trigger signal is received on TE pin, the programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium. HT12E begins a 4-word transmission cycle upon receipt of a transmission enable. This cycle is repeated as long as TE is kept low. As soon as TE returns to high, the encoder output completes its final cycle and then stops.

Pin Out of HT12E Encoder IC:

Figure 2.3: Pin Out of HT12E Encoder IC

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[5]

Decoder: A decoder is a circuit that changes a code into a set of signals. It is called a decoder because it does the reverse of encoding.

HT12D Decoder IC: HT12D is a decoder integrated circuit that belongs to 212 series of decoders. This series of decoders are mainly used for remote control system applications, like burglar alarm, car door controller, security system etc. It is mainly provided to interface RF and infrared circuits. They are paired with 212 series of encoders. The chosen pair of encoder/decoder should have same number of addresses and data format.

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Pin Out of HT12D Decoder IC:

Figure 2.4: Pin Out of HT12D Decoder IC

In simple terms, HT12D converts the serial input into parallel outputs. It decodes the serial addresses and data received by, say, an RF receiver, into parallel data and sends them to output data pins. The serial input data is compared with the local addresses three times continuously. The input data code is decoded when no error or unmatched codes are found. A valid transmission in indicated by a high signal at VT pin.

HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits. The data on 4 bit latch type output pins remain unchanged until new is received.

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Pin Description:

[6]

.

2.04 Voltage Regulator IC (LM7805) [7]. The series 7800 regulators provide eight voltage options, ranging from 5 to 24 V. These ICs are designed as fixed voltage regulators and with adequate heat sinking can deliver output currents in excess of 1 A. Although these devices do not require any external component, such components can be employed for providing adjustable voltages and currents. These ICs also have internal thermal overload protection and internal short-circuit current limiting. Figure illustrates how one such IC, a 7815, is connected to provide voltage regulation with output of + 15 V dc from this unit. An unregulated, input voltage V in is filtered by capacitor C, and connected to the pin .1 (IN terminal) of IC. The pin 2 (OUT terminal) of the IC provides a regulated + 15 V which is filtered by capacitor C2 (mostly for any high frequency noise). The third pin (GND terminal) of the IC is connected to ground. While the input voltage may vary over some permissible voltage range, and the output load may vary over some acceptable range, the output voltage remains constant within specified voltage variation limits. These limitations are mentioned in the manufacturer’s specification sheet. In addition, the difference between input and output voltages (V in– Vout), callec the dropout voltage, must be typically 20 V, even during the low point on the input ripple voltage. Page 16 of 60

Furthermore, the capacitor C1, is required if the regulator is located an appreciable distance from a power supply filter. Even though C 2 is not required, it may be used to improve the transient response of the regulator.

Figure 2.5: + 5V Complete Power supply The connection of a 7815 in a complete supply is shown in figure. The ac line voltage is stepped down to 24 Vrms across each half of the centre-tapped transformer. A full-wave rectifier and capacitor filter then provides an unregulated dc voltage with ac ripple of a few volts as input to the voltage regulator. The 7815 IC then provides an output of + 15 V dc.

2.05 DC Gear Motor DC Motors convert electrical energy (voltage or power source) to mechanical energy (produce rotational motion). They run on direct current. The Dc motor works on the principle of Lorentz force which states that when a wire carrying current is placed in a region having magnetic field, than the wire experiences a force. This Lorentz force provides a torque to the coil to rotate.

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Figure 2.6: DC Gear Motor Geared DC motors can be defined as an extension of DC motor. A geared DC Motor has a gear assembly attached to the motor. The speed of motor is counted in terms of rotations of the shaft per minute and is termed as RPM .The gear assembly helps in increasing the torque and reducing the speed. Using the correct combination of gears in a gear motor, its speed can be reduced to any desirable figure. This concept where gears reduce the speed of the vehicle but increase its torque is known as gear reduction. This Insight will explore all the minor and major details that make the gear head and hence the working of geared DC motor. [8].

2.06 Servo Motor A servomotor is a rotary actuator that allows for precise control of angular position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback. It also requires a relatively sophisticated controller, often a dedicated module designed specifically for use with servomotors. Servomotors are not a specific class of motor although the term servomotor is often used to refer to a motor suitable for use in a closed-loop control system.Servomotors are used in applications such as robotics, CNC machinery or automated manufacturing.

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What's Inside the Servo?

Figure 2.7: Inside the Servo

Inside a servo motor, there is a pretty simple set-up: a small DC motor, potentiometer and a control circuit. The motor is attached by gears to the control wheel. As the motor rotates, the potentiometer's resistance changes, so the control circuit can precisely regulate how much movement there is and in which direction. When the shaft of the motor is at the desired position, power supplied to the motor is stopped. If not, the motor is turned in the appropriate direction. The desired position is sent via electrical pulses through the signal wire. The motor's speed is proportional to the difference between its actual position and desired position. So if the motor is near the desired position, it will turn slowly, otherwise it will turn fast. This is called proportional control[9].

How is the Servo Controlled? Servos are controlled by sending an electrical pulse of variable width, or pulse width modulation (PWM), through the control wire. There is a minimum pulse, a maximum pulse and a repetition rate. A servo motor can usually only turn 90° in either direction for a total of 180° movement. The motor's neutral position is defined as the position where the servo Page 19 of 60

has the same amount of potential rotation in the both the clockwise or counter-clockwise direction. The PWM sent to the motor determines position of the shaft, and based on the duration of the pulse sent via the control wire the rotor will turn to the desired position. The servo motor expects to see a pulse every 20 milliseconds (ms) and the length of the pulse will determine how far the motor turns. For example, a 1.5ms pulse will make the motor turn to the 90° position. Shorter than 1.5ms moves it to 0° and any longer than 1.5ms will turn the servo to 180°, as diagramed below.

Figure 2.8: Variable Pulse Width Control Servo Position When these servos are commanded to move, they will move to the position and hold that position. If an external force pushes against the servo while the servo is holding a position, the servo will resist from moving out of that position. The maximum amount of force the servo can exert is called the torque rating of the servo. Servos will not hold their position forever though; the position pulse must be repeated to instruct the servo to stay in position.

Types of Servo Motors There are two types of servo motors: AC and DC. AC servos can handle higher current surges and tend to be used in industrial machinery. DC servos are not designed for high current surges and are usually better suited for smaller applications. Generally speaking, DC motors are less expensive than their AC counterparts. These are also servo motors that have been built specifically for continuous rotation, making it an easy way to get your robot moving. They feature two ball bearings on the output shaft for reduced friction and easy access to the rest-point adjustment potentiometer. Page 20 of 60

Servo Motor Applications Servos are used in radio-controlled airplanes to position control surfaces like elevators, rudders, walking a robot or operating grippers. Servo motors are small, have built-in control circuitry and have good power for their size.

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Chapter 3 Construction of Robots 3.01 Battery Charging Section The Blue marked area shows the “Battery Charging Section” on the Receiver control board.

Figure 3.1:Battery Charging Section

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Where, String

Component

Is used to

J1

Terminal Block

Provide power on the board.

J2

DC power Jack

Connecting the Adapter with the board.

D1

Diode

Flow of electric current in only one direction.

D2

5mm Red LED

Battery charging indication.

R1

Resistor

Current limiting of the LED.

3.02 Logic Power Supply Section The Logic Voltage used in digital electronics is 5V supply. The heart of the Logic Power Supply Section is the LM7805 constant voltage supply regulator. The LM7805 is a family of self-contained fixed linear voltage regulator integrated circuits.

Figure 3.2:Logic Power Supply Section

Page 23 of 60

The 7805 is commonly used in electronic circuits requiring a regulated power supply due to their ease-of-use and low cost. For ICs within the family, the 7805 has a 5-volt output. The 7805 lines are positive voltage regulators: they produce a voltage that is positive relative to a common ground. Figure shows, C1 a decent sized electrolytic capacitor on the output side of a 7805. These reduce larger ripples on the line and provide temporary sources of power for short transient demands of the circuit and also used to help reduce higher frequency noise on the line and can be added as needed. When battery is placed on the terminal and switch SW2 is pressed, theLED D4 indicate that, the logic supply is available in all VCC terminal of the board.[10].

3.03.DC Motor Power Supply Section

Figure 3.3:DC Motor Power Supply Section Page 24 of 60

The Motor Power is that, which is directly used to feed the motor. If battery is available on the required terminal and switch SW1 is pressed, then the filter capacitors C2 comes on conduction and reduces larger ripples on the line and provide temporary sources of power for short transient demands of the circuit. The LED D3 indicate that, the power is available on the motor driver using Vin pin.

3.04 Servo Motor Power Supply Section

Figure 3.4:Servo Motor Power Supply Section

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In the robotic arm section, three servos are used to welding, gripping, spinning etc. All of these three servos are operating at fixed 6V power supply. So we have to ensure the 6V constant supply to control these servos with best utilization. Thus why, a 6V battery should be connected in J10 and after pressing the switch SW3 the LED D14 ensure the power available on the servo terminal. The capacitor C6 reduces larger ripples on the line and provides temporary sources of power for short transient demands of the circuit.

3.05 RF Transmission Section

Figure 3.5: RF Transmission Section

Page 26 of 60

Figure shows the transmitter circuit diagram, where the RF Module TX is connected with HT12E encoder ic and this encoder is then connect witch the MCU. In the MCU section, the 8-bit of PORTB and the first 7-bit of PORTD is connect with pulldown series resistor pack RP1 and RP2 and also all of this total 15-bit is further connected with Momentary Push Button Switch.When a particular switch is pressed, the MCU receive the logical high from that pin. The MCU represent all of this 15 different logic-level into 4-bit pattern. This 4-bit data, is then transmit to the encoder ic and encode the data based on the address located on the address bar. Finally encoder send this signal to the RF Module TX via single line transition system and then the TX spread the signal wirelessly.

3.06 RF Receiver Section

Figure 3.6:RF Receiver Section

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Figure shows, schematic connection of RF Module for interfacing with MCU. The MCU always check the logic level of the four input pin PD0, PD1, PD2 and PD3. Normally this four pin get logical zero or GND via pull-down resistor. When the Transmittertransmit any signal, at this moment if the receiver address match with transmitter, then the receivercapture the signal through antenna.Then the decoder ic HT12D decode the signal and represent the signal into 4-bit position. This signal is an input for the MCU and according to the input signal, the MCU execute the particular function. To communicate with two devices via RF Module, at first we have to ensure both the module are within the range. If both of them are within the range, the LED D5 indicate that perfect communication channel has been established between them.

3.07 ARM Section

Figure 3.7:ARM Section

This robotic arm is configuring with servo-motor. The arm may move and hold the angular position of any step from 0 degree to 180 degree continuous or step by step rotation for up to down or down to up. Page 28 of 60

3.08 CLAW Section

Figure 3.8:CLAW Section The claw can be designed to perform any desired task such as welding, gripping, spinning etc… depending on the application.

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3.09 Shoulder Section

Figure 3.9: Shoulder Section Figure shows that, another metal servo is used to configure the shoulder of the robot. This is very significant part of the robotic hand. By using this shoulder, robot can easily move the arm from left to right position for performing the best accuracy.

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3.10 FLOW CHART

Page 31 of 60

3.11 Transmitter Circuit Diagram:

Figure 3.10: Transmitter Circuit Diagram

The above circuit diagram is the transmission unit, able to send user command wirelessly to the robot for completing the particular task. When user press a particular switch, the switching high-logic level, send a command to the MCU. Then the MCU represent the total of 15-bit data to a 4-bit data. The 4-bit data is then changing the logic level of the HT12E encoder ICs data pin. According to the address of encoder, data is then further packing and ready for single line transmission system. The data pack finally transmitted through wirelessly by RF Module Transmitter.

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3.12 Receiver Circuit Diagram:

Figure 3.11:Receiver Circuit Diagram

The receiver unit is developed with battery charging section, Micro-Controller, Signaldecoder, RF-Receiver, Motor-driver and Servo control systems. When signal is available on the receiver, the decoder then decode the signal and represent the signal with 4-bit TTL data. The MCU read the TTL data using the PORT of PD0, PD1, PD2 and PD3. According the available logic data on the PORTD, MCU complete the particular task.

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Operation and Control: We can control the ROBOT movement by controlling the four Geared DC Motor in various direction i.eForward direction& Reverse Direction. Move Front Direction:

Move Back Direction:

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Chapter 4 Future Prospects 4.01 Future Prospects:  For improving the accuracy of the system. Here we use Geared Motor with Plastic Geared Systemfor movement of the but using efficient Metal Geared Motor techniques will help us to precise the movement of the ROBOT.

Figure 4.1:Metal Gear  Plastic Servo Horn must be replace with Metal Servo Horn for heavy load.

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Figure 4.2:Metal Servo Horn  Ni-Cad Battery can be replaced by Li-ion or Lipo, to increase the power backup time and also reduce the weight of the ROBOT.  And for easily and more efficient control Various types of sensors and system can be introduced with this system such as Accelerometer, GPS, Pattern recognition system etc. These allow the system to act like a powerful robot.

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Chapter 5 Conclusion The purpose of our project was to create an inexpensive and high-efficient Object Transportation robot for education and orientation use. In the conclusion of this report, the robot was able to display to us its object transportation strategy within a speed range.

5.01 The specific work we have finished are as follows:  We tested and optimized the Development board and check the electrical connection between Micro-Controller and Motor driver which was used to control the motors smoothly.  After attaching the RF-Module, we successfully developed the program to detect the input signal from the transmitter to control the dc and servo motors with MicroController.

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References 1. ^”http://en.wikipedia.org/wiki/Robot” □ Robot 2. ^ “http://en.wikipedia.org/wiki/Microcontroller“ □ Microcontroller IC (ATmega32) 3. ^ ”http://searchnetworking.techtarget.com/definition/radio-frequency” □ RF 433Mhz Module Radio Frequency (RF) definition 4. ^”http://en.wikipedia.org/wiki/Encoder”

□ Encoder 5. ^”http://www.engineersgarage.com/electronic-components/ht12e” □HT12E Encoder IC 6. ^ “http://www.engineersgarage.com/electronic-components/ht12d-datasheet” □HT12D Decoder IC 7. ^”http://www.circuitstoday.com/fixed-positive-voltage-regulators” □Voltage Regulator IC (LM7805 8. ^“http://www.engineersgarage.com/insight/how-geared-dc-motor-works” □DC Gear Motor 9. ^”http://www.jameco.com/jameco/workshop/howitworks/how-servo-motors-work.html ” □What's Inside the Servo? 10. ^”https://en.wikipedia.org/wiki/78xx ”

□Logic Power Supply Section

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Appendix A

Code for Transmitter

main.c file #include #include #include int main(void) { DDRA = 0xFF; // Set Data Direction Resistor of PORTA for output (To data transfer) DDRD =0x00;// Set Data Direction Resistor of PORTD for input (optional switch) DDRB =0x00;// Set Data Direction Resistor of PORTB for input (Remote car move & Remote claw control)

MCUCSR|= (1