Presentation on fabrication of a stair climbing vehicle
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Transcript of Presentation on fabrication of a stair climbing vehicle
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Fabrication of a Stair Climbing Vehicle for Industrial and Rescue
application Using Appropriate Technology
Prepared by
Shimanto MohammadRoll: 1003064
Published in:Electrical & Computer Engineering (ICECE), 2012 7th International Conference
A Presentation on
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Motivation
Overview
Hardware Descriptions
Control System
Conclusion
CONTENTS
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• Speed up search and rescue operation
• Industrial automation
• Military task
• House hold work
• Hospital operations
• Security systems
Motivation
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This paper presents the implementation of a stair climbing vehicle having a robotic arm.
Overview
Key features of the vehicle: Climbing Stair Explore rough terrain Grip and Carry objects Measure the weight of objects and
sort them
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• Module 1- Stair Climbing Vehicle Part
• Module 2- Robotic Arm Part
Hardware Description
Fig. Stair climbing robotic vehicle
Fig. Robotic gripper arm.
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Module 1- Stair Climbing Vehicle Part
Fig. Vehicle climbing stairs.
• Dimension 56*25 *11.5 cm
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Module 1- Stair Climbing Vehicle Part
Fig. Vehicle climbing stairs.
• Dimension 56*25 *11.5 cm• Requires 4 gears
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Module 1- Stair Climbing Vehicle Part
Fig. Vehicle climbing stairs.
• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =
2*rear gear dia (55mm)
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Module 1- Stair Climbing Vehicle Part
Fig. Vehicle climbing stairs.
• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =
2*rear gear dia (55mm)• 38 teeth in front gear and
22 teeth in rear gear
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Module 1- Stair Climbing Vehicle Part
Fig. Vehicle climbing stairs.
• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =
2*rear gear dia (55mm)• 38 teeth in front gear and
22 teeth in rear gear• Timing belts warp with
gears
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Module 1- Stair Climbing Vehicle Part
Fig. Vehicle climbing stairs.
• Dimension 56*25 *11.5 cm• Requires 4 gears• Front gear dia (114mm) =
2*rear gear dia (55mm)• 38 teeth in front gear and
22 teeth in rear gear• Timing belts warp with
gears• 6204 bearing used to
support load of plexiglassand electrical parts.
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Module 2- Robotic Arm Part
Different parts:Griper armStandRotating base plate etc.
Fig. Overall structure of Robotic arm.
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Module 2- Robotic Arm Part
Griper arm-two grippers-gears-shafts-an arm-bushing for motor coupling
Fig. Robotic gripper arm.
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Module 2- Robotic Arm Part
Rotating base plate-clamped with a shaft-a bearing in the base table-joined with stepper motor-4 shafts design to transmit power
Fig. Rotating base plate.
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Control System
• Module 1- Stair Climbing Vehicle Part
• Module 2- Robotic Arm Part
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Module 1- Stair Climbing Vehicle Part
Instruments1.24V Gear Motor2.Motor Driver L293D3.24V DC Power supply4.IC 7404 5.IC 74326.Capacitor7.Breadboard8.Vero board9.Push switch
Control-2 way1. Serial Joystick2. Interfacing stair climbing
robot with PC
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Module 1- Stair Climbing Vehicle Part
Fig. Complete circuit diagram of module 1.
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• Like human hand
• Can sense the weight
• Sort objects according to their weight
Module 2- Robotic Arm Part
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Module 2- Robotic Arm Part
Fig. Control system (block diagram) of module 2.
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Module 2- Robotic Arm Part
Fig. Control system (block diagram) of module 2.
Fig. Calibration curve of LVDT for module 2.
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The main concern of this paper is to fabricate a robot with locallyavailable material that can be used not only for the rescuepurpose but also for any types of industrial operation.
Conclusion
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Thanks to all