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B UILDING U P :

Wireless Arthrobot

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T ASKS TO BE P ERFORMED :

Acquire the physical quantities fromspecific sensors.

Transmit information about physicalquantities to control room.Transmit images from robot to TVstation.Control the movement of robot bymeans of a wireless remote.

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REVISED BLOCK D IAGRAM :

Transmitter (On Remote):

AT89S52KEYSRF TX

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REVISED BLOCK DIAGRAM(CONT.)

Receiver( On Robot ):

PIC16F87XA

Wireless

Camera

Sensor Array

RF RX MotorDriver

PIC16c71

Motor 1

Motor 2

Motor3

Transmitter

SignalConditioning

Circuit

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REVISED BLOCK DIAGRAM(CONT.)

Control Room:

Receiver TV

Receiver Display

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R E SOU RCE S S ELEC T ED :

Microcontroller : PIC16F87XA and AT89S52.S

ignalT

ransmission Medium :RF

signals.W ireless C amera.T ransmitter & R eceiver kit.

C omparator LM339.Motor D river: PIC 16c71 .Servo Motors: Hi-t e ch H- 3 11 .

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D E S CRIP T I ON OF TH E RE SOU RCE S :

Microcontroller AT89S52:

8Kb of I n system programmable flash

memory.E ndurance: 1000 w r it e/erase cycles.4 .0 v t o 5 .5 v operating range.2

56 bytes internal RA M.

3 2 programmable I /O l in es .F ully static operation: 0 Hz t o 33M Hz .

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PIC16F87XA:100,000 erase/write cycle Enhanced Flash programmemory typical.1,000,000 erase/write cycle Data EEPROM memory

typicalData EEPROM Retention > 4 0 years.Self-reprogrammable under software control.In-Circuit Serial Programming (ICSP ) viatwo pins.Single-supply 5V In-Circuit Serial Programming.In built ADC (10 bit, up to 8 channels).Power saving Sleep mode.Selectable oscillator options.

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COMPARATOR LM339:

W ide supply voltage range.n LM139/139A Series 2 to 36 VDC or ±1 to ±18

VDC.

n Very low supply current drain (0.8 mA) ³ independent of supply voltage.n Low input biasing current: 25 nA.n Low input offset current: ±5 nA.

n Offset voltage: ±3 mV.n Input common-mode voltage range includesGND.Output voltage compatible with

TTL,M OS ,CM OS Logic systems.

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S ERVO MOTORS :

It is a device which has apositionable shaft.

Position of this shaft can be changedaccording to the signal given to it.Servos are powerful and consumeless energy.Uses PWM signals for themovement.

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S ERVO M OTOR CONTROLLER : H-311Control System: + Pulse Width Control1500usec Neutral.R equired Pulse: 3-5 Volt Peak to Peak SquareWave.

O perating Voltage: 4 .8-6.0 Volts.O perating Temperature R ange: -20 to + 60 °C.O perating Speed ( 4 .8V): 0.19sec/60° at noload.O perating Speed (6.0V): 0.15sec/60° at noload.Stall Torque ( 4 .8V): 4 2 oz/in (3.0 kg/cm).Stall Torque (6.0V): 4 9 oz/in ( 4 .5 kg/cm).

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H-311(C ONT .):

Current Drain ( 4 .8V): 7. 4 mA/idle, 160mA noload operating.Current Drain (6.0V): 7.7mA/idle, 180mA noload operating.Dead Band W idth: 5usec.O perating Angle: 4 5° one side pulse traveling4 50usec.Direction: Multi-directional.M otor Type: Cored Metal Brush.360 M odifiable: Yes .W eight: 1.52oz ( 4 3g)

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RF S IGNALS :

4 33MHz 2. 4 GHzRange free field : max.100m max.100Range through floors

and walls : 10 - 20m 15 -30 mCapacity : max. 10mW max. 10mWFrequency : 4 33.92MHz 2. 4 GHz

Application: To transmit signals through floors andwalls.

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ROBOT M AY LOOK L IKE :

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TH ANK Y OU!