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7/29/2019 Basic robotics - XLR8 basics
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XLR8
BASICS
-ARPIT GUPTA
-HIMANI SINGHAL
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WHEELS
No of wheels
Size of the wheels
Traction??
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NUMBER OF WHEELS
Four wheel drive
Three wheel drive
Two wheel drive
One wheel drive ?????
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FOUR WHEEL DRIVE
More no. of motors more torque
Easy to climb inclined plane
If not aligned properly => 1 motor useless
Different RPM | Power loss
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THREE WHEEL DRIVE
Minimum no of points to form a plane
Wheels always in contact
Only 2 motors
Wheelie can occur at the start of motion
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REMOVE GRIP OF
FRONT WHEELS
Easily rotated than 4 wheel
driveMore torque than 3 wheel
drive
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TWO WHEEL DRIVE
Segway
One wheel
drive
Self balancing bot
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SIZE AND STRENGTH
Diameter Large : positioning less accurate
Task
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Given a motor of torque
High force requirement
small diameter
opposing torque produce by friction reduces
(friction)=R*F(friction)
High speed requirement
Large diameter
V=R*
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MOTORS
What motors to choose??
Choosing the motors is a very big task as a wide variety of
motors of different r.p.m , torque, size, power, weight,material are available in the market .
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There is always a tradeoff between the motors as torque andR.p.m are inversely proportional.
Some robots even have weight constrains (heavy metal motors orlight plastic motors)?
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MATERIAL FOR
CHASSIS
Acrylic
Aluminum
Wood
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MATERIAL FOR
CHASSIS
Acrylic
Aluminum
Wood
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ACRYLIC
Advantages
Light weight
Easy milling
Transparent acrylic sheets can be used in the robots in
which internal mechanisms need to be presented
Disadvantage
Very brittle and fragile
Is not reliable for long term usage of the machine
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ALUMINUM
Advantage
Light weight
Easy machining (compared to other metals)
Readymade sections, bars, boxes etc are easilyavailable in the market which can be directly
used
More strength to weight ratioDisadvantage
Sheet of same dimension is very heavy as compared to
rest of the two materials
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WOOD
Advantages
Lightest among the three
Relatively cheaper than acrylic
Disadvantages
Very weak
Not Waterproof
CENTER OF GRAVITY
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CENTER OF GRAVITY
Low
Stability
Impulsive force & at start of motion
F
A lot of care must be taken about issues like center of mass and center of gravity
As the robot must be very stable and should be avoided from toppling , and other
stability problems
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CONTINUED
D T Toppling
Close to the wheels having grip
Gripper motor
positioning
Brake wire (Cycle)
Use Pulley - Rope System
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7805
Three terminalpositive voltageregulator.
It is used toconvert 12Vcurrent suppliedby the battery to5V current.
Dont forget toattach heat sink .
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FOR A WIRELESS ROBOT THAT
RECEIVES A SIGNAL ONLY OF 5 VOLTSOR LESS THAN 5VOLTS.
SO HOW DO WE RUN MOTORS OF 12
VOLTS???
WE NEED A CIRCUIT THAT ACTS AS AN SWITCH
I.E WHEN IT GETS 5VOLT SIGNAL IT SWITCHES 12
VOLTS TO THE MOTORS.
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L293D
16 pins and their numbering
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L293D AND 7805
CIRCUIT
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BATTERIES
We generally use 3 types of
batteries
Lead acid battery Rechargable, generally used.
Nickel Metal Hydride (Ni-MH)
battery
Lithium Ion (Li-ion) battery
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WHICH BATTERY TO USE??
Lead acid batteries- Heavy,cheap,easyand safe to use.
Lithium ion battery-light
weight,costly,carefull chargingneeded.
Lithium polymer- light weight , very
costly , carefull charging and balancingneeded.
Nickel metal hydride-slightly heavy ,
safe to use.
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CONTACT DETAILS
Managers:-
Mohit - 9820721145
Ashima - 9167146655
Co-ordinators:-
Deepak - 8655600593
Shaimak - 9167647616
Rishi - 8879490822
Arpit - 9920134740
Krishnakant - 9820715401
Himani - 9405621818
Newton (PG Co-ordinator)-9930742189