ROBOTIC final.pptx

8/13/2019 ROBOTIC final.pptx

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YAO WANGCHI DONGTUO ZHOU


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Every year Notre Dame and Northern Ohiocompete in the game of CollegiateMechatronic Football. Senior mechanicalengineers have divided into teams to playfootball robotic football!


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Background and Introduction

Mechanical Design Origin Shooting Design Consideration of Defect and Improvement Improved Shooting Mechanism

Controlling Design

Communication Testing results Conclusion and outlook


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Original Shooting Design


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Original Shooting Design


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Two wheels shooting ball mechanism


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Consideration of Defect and Improvement


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Improved Shooting Mechanism


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Dcould be calculated usingfollowing equation:

V0: initial velocity : shooting angle

H0 : initial height of footballD : shooting distance


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Motor Selection


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Motor Selection DC motors are used to drive the

wheel part and keep it rotating so

that it can shoot the ball under theeffect of fraction.

Based on the mechanic design, weselected two DC motors: M5-

RS540-12.


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Microcontroller

MCU ATmega328 Flash Memory 32KB

Operating Voltage 5V SRAM 2KB

Input Voltage 7-12V EEPROM 1KB

Digital I/O Pins 14 Clock Speed 16MHz

Analog Input Pins 6

Arduino Uno boardwith ATmega
http://www.mouser.com/access?pn=atmega328http://www.mouser.com/access?pn=atmega328


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Motor Driver To drive and control the DC

motor, we use seeed motorshield with arduino uno board.The arduino uno board isprogrammed to give orders to

the motor shield.

Such orders include drive themotor forward\backward,change the current speed ofthe motor and decide whichmotor to start working, etc.


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Core controlling module


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Sensor

send out ultrasonic wavetodetect objects anddistances.

Once the original wavereached an object, some ofthe wave get reverse andbecome reflected wave


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Sensor

offers very short to long-range detection and ranging

detects objects from 0-inches, even objects pressing againstthe front sensor face, to 254-inches

provides sonar range information from 6-inches to 254inches

Objects between 0-inches and 6-inches range as 6-inches.

MaxSonar-EZ1.


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Programming rduino Uno Board Together with sensor, communication module

and motor driver, microcontroller canaccomplish following functions:

Receive data detected from sensor Communicate with other device through

communication module Process and handle data received Send out order to control motor driver


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XBee Communication

Embedded solutions providingwireless end-point connectivityto devices

Windows PC connects XBee S2TM(receiver) via USB-cable, and the second

XBee S2TM(transmitter) connects withArduino Uno.


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Arduino Communication

For transmitter part:Connect an Arduino Uno to the computer.

Connect the Arduino Uno via 4 wires (+5V, GND, TX, RX)

to another XBee S2TMmodule, which is set to transmitting

mode.Compile the program and upload it to Arduino Uno

Board.

For receiver part: Connect an XBee S2TMvia a USB cable to the computer. Run the X-CTU software that interacts with the XBee S2TM

and set it to receiving mode.(coordinator)


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Integrating various parts of the robot together


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Functionality:1. Speed control

2. Differential shooting

3. Sensor locating4. Calculate and feed back

Lets Shoot


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Performance improvements

1. Ball holder

2. Certain method of stabilization3. Car kit

4. Energy saving

5. Remote control


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Future outlook Receiver robots and kicker robots can be

constructed base on this design.

Engineers need to customize the design forkicking the ball for kicker, and replace theshooting mechanism with a wide catchmechanism to build up a receiver.

However, basic idea of controlling andcommunication design can be reused right away.


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ROBOTIC final.pptx

Documents

Transcript of ROBOTIC final.pptx