Erudition of Robotic

8/6/2019 Erudition of Robotic

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ERUDITION OF ROBOTIC

Analog Line Tracer

Creativity By

Robotic 5 {Roma}:

Luqman Raharjo X-9Gema Barlian X-8Sani Puji R X-8Rizal Dwinto X-5Muhammad Wahyu AP X-4Dhanar Prayogo X-3

Ratih Putri R X-1With Tiara Irsyad XI IA6

SmalaRoboticState Senior High School 5 Surabaya



Chapter I

Features (Every computer is different, the page will different too)

AbstractionFormulation of ProblemDestinyUtilityBase of TheoryComponents of ElectronicDescription of CreationChasis DesignClosingRefferents



Abstraction

Bismillahirrahmanirrahim. This earth has orbited the sun billiontimes. From the first existence of human on the earth, the human wasknown everything as written on QS al-Baqarah: 31-33. But that time,human just know the name of goods. Whereas for processingsomething, human has given intellegent by God to make tools namedtechnology. The grandeur of human to make technology has beenproved with archaeology that found by archaeologist. Many archaeologymade by high and complex calculation. Like scheme of UFO-shapedvehicle, 3 Pyramids of Giza that point to Orion constellation, and others.But, when the earth filled with technologies, something destroy all of the earth. This destruction has come in Noah period that carried 70 of human and 8 members of family only. Human that He carried isn’t hashigh intellegent at all. Only His family has high intelegent. After that

tragedy, all of human spreaded to the whole of earth. And they buildtheir cultures from zero. Thats why, there are some story that tell aboutGod and Goddess (Dewa-Dewi), because that generation ever seen it.

In Indonesia, remainder of ancient technologies can be seen fromvariety of cultures. In language, there are some language level. Forfriend, higher age, or the elders. Uniquely, highest language level fromdifferent cultures (in Indonesia more over in South East Asia) hassimilarity. That laguage is Melayu, an official language of Sriwijaya.Sriwijaya is a kingdom that known well as professional sailor. That’s whythere was a song, “Nenek moyangku seorang pelaut...”). Now, thatlanguage became Bahasa Indonesia.

In the last archaeology research, Egyptian Hieroglyph tell aboutthe journey to the east. With 3 months sea route, they found many palmshaped plants, The King that reigning archipelago, full of prosperity andthere was an Eye of Horus that make that land became prosperously.Eye of Horus symbolized as the sun. Eye of Horus Ancient Egypt’sspelled ‘Maat Heru’. Therefore Bahasa Indonesia of sun is ‘Matahari’. So,this is one sign, the ancient technology of Indonesia is better than any.So from that, we have to make or give innovation to technology. Orsearch ancient technology of Indonesia. And this erudition is one step of our destiny.

This erudition contains base theory of robotic and ways of workingof robot. The innovation from us is give some tips implicitly. We hopethis erudition become usefully.



Chapter II

Formulation of Problem



Destiny

Utility



Chapter III

Base Theory

I. Base of Electronic

Analysis of electronic circuit is generally very complex. Becausethe amount is too small, so it doesn’t affect much to robot. Example, acopper wire has length of thirty cm has resistance of 0.0054 Ω. To easierthe analysis, we can assume that copper is a pure conductor.

Generally, every component has different characteristic, so it canmake us difficult to placed component well. To easier this problem, wemust know how to take care the component. This is some componentsand how to care it.

• Resistor : Very resistant with many problems. It may be brokenlike the others component, if it got high pressurethat make the leg of resistor crash. Don’t forget toclean the leg before its soldered.

• Capacitor : It can’t hold high pressure and heat. So, solder itspart quickly and don’t forget to clean the leg before itssoldered. Some parts have electric polarity. If part thathas polarity soldered inverted, the part will bebroken. So, please be careful.

• Transistor : It can’t hold high pressure, heat, and voltage. So,please give resistor before its basis because

one of the functions of transistor is as current amplifier. This part also has electric polarity.• Integrated Circuit (IC): It can’t hold high pressure, heat, and

voltage. This part also has electric polarity. To avoid thebroken of the leg of IC, please don’t touch theleg. It’s the vital component of robotic. Becausethe price more expensive than the others component.

• LED : It can’t hold high pressure and voltage. This part alsohas electric polarity.

• Photo diode: It can’t hold high pressure and voltage. This part alsohas electric polarity.

• Variable resistor: Same as resistor, but it has electric polarity.• Diode : It can’t hold high pressure. If this part soldered

inverted, there was no flows of electric current.

II. Components of Electronic

Resistor

Resistor is the base of electronic component that can decreasethe electric current flows in one circuit or as the load of circuit. Is like

the name, the characteristic is resistive that formed from carbonmatter. The unit of resistor is Ω (ohm) and the symbol is R. Each matter



of resistor has different value of resistant. To know the resistant of matter, there is a formula:

Whereas :

R = Resistant (Ω)

ρ = Specific resistant of mater (Ωm)

A = Section area (m2)

l = length (m)

Generally, resistor is cube form with two legs from copper wire.On its surface, there are 4-5 bracelets that have color. Its color used toeasier to know the resistance without measuring with Ohmmeter. Everycolor has code that stated by Electronic Industries Association (EIA)

How to read resistor

The total of bracelets usually

depends with its tolerance. Resistorwith tolerance of silver, gold, or withno color, it has 4 bracelets (included itsbracelet). But, resistor with toleranceof brown or red, it has 5 bracelets.

On the resistor 4 bracelets, thefirst last of bracelet is the value of tolerance. The second last other of bracelet is the multiplier factor. Andthe first and second bracelets, in a

straight show the value of unit.Example:

Red, blue, yellow and gold. It show 26* 104 with tolerance of 5%. So, the resistance of the resistor above is260000 Ω with tolerance of 5 %. Or write as 260 kΩ 5%.Now, if the colors are green, grey, brown and gold. It show 58 * 101 withtolerance of 5%. So, the resistance of the resistor is 580 Ω with thetolerance of 5%. Or write as 580 Ω 5%.

On the resistor 5 bracelets, the first last of bracelet is the value of

tolerance. The second last other of bracelet is the multiplier factor. Andthe others, in a straight show the value of unit. Example:

Purple, red, blue, brown and red. It show 726 * 101 with tolerance of 2%.So, the resistance of resistor is 7260 Ω with tolerance of 2 %. Or write as7260 Ω 2%.

But, there are resistors with ‘tolerance’. What is mean? Its meanthe real resistance of resistor isn’t stable. Assume the resistance of resistor with X. X with tolerance 5% mean the real resistance of resistoris between X-5%X and X+5%X. Example, 100 Ω 5%. The resistance isbetween 100 – 5%*100 and 100 + 5%*100. So, the resistance of itsresistor is between 95 Ω until 105 Ω.

Color

Valu

e

Multipli

erfactor

Tolerant

Black 0 100

Brown 1 101 1%

Red 2 102 2%

Orange 3 103

Yellow 4 104

Green 5 105

Blue 6 106

Purple 7 107

Grey 8 108

White 9 109

Gold - 0.1 5%

Silver - 0.01 10%

No color - - 20%

R =

ρ l



Resistor’s Variable

Resistor’s changing variable), is kind of resistor that the value canbe changed by shift and rotate the toggle on that device. So, we can

determine the value of the resistor according to our needs. Based onthe type we divide it into three: Potentiometer, rheostat, and trim pot(trimmer potentiometer). Resistor’s variable which is used for thisdevice is trim pot.

Model and symbol of trim pot

The value of the trim pot was written in the body with 3 digits numberas shown in the picture above. It's just the factors 10n are located on three

characters. Example, a trim pot was written 473K. Because the third digit

number written 3 then factor 10n = 103 = 1000. So the value is 47 000 Ω

resistance. = 47 K Ω.

LED (Light Emitting Diode)

Light Emitting Diode can release light if it’s given forward refraction.

This kind of diode

LEDs are used for receiving the sensor is of the type of superbright 5mm. Thesurplus is to have the intensity and focus that is better than regular LEDs.

Photodiode

Untuk photodiode, dapat disebut sebagai salah satu dari komponen sensor,yang dimaksud dengan sensor yaitu suatu komponen yang digunakan untuk

mengubah suatu besaran fisika kedalam bentuk sinyal listrik, di mana sensoritu merupakan bagian dari tranducers, tranducers itu terbagi atas sensor danactuator, actuator yaitu suatu komponen untuk mengubah besaran fisika darisinyal listrik menjadi besaran fisika yang lainnya misalnya motor listrik, danlain-lain sebagainya.

Capacitor



Capacitor is a passive component of electronic that usually usedin designing a system for blocking direct current (DC); filter frombouncing of high voltage switch, stabilizer of current,and a flash current storage. In this project, it usuallyused as stabilizer of current. And usually use

capacitor with no polarity. On the body of capacitorwritten: 103 or 204 or 232. 103 mean 10 * 102 pF (theunit of capacitor is F, for Farad) or 1000 pF or 1 Kpf or1 nF. 204 mean 20 * 104 pF or 200000 pF or 200 KpFor 200 nF. 232 mean 23 * 102 pF or 230 pF.

Transistor

Transistor is a component which the function is as stronger,

switching or driver. Transistor can be analogized as two diodes. In thetransistor, “on and off” are occurred. The general shape of transistor has point or dot that determines theposition of emitter. However, the transistor’s hat shape, the collectoroccurs on the body of transistor. Transistor usually analogized as twodiodes.

Transistor’s models

Operational Amplifier (OP-AMP)

OpAmp (Operational Amplifiers) is essentially a type of IC. In it there

is an electronic circuit that consists of several transistors, resistors and / or

diodes. IC type is called an operational amplifier or operational amplifier,

abbreviated OpAmp.

TRANSCEIVER AND RECEIVER

Transceiver (Tx) is electrical component which has characteristic

releasing signal and receiver (Rx) is electrical component which get signal. Led

Superbright is electronic components that have a working principle as the LED

(Light Emitting Diode), except that the intensity of light emitted is more

powerful than ordinary LEDs. Through which the light intensity is proportional

B

..

ECEB C

.

EB C E

C

B



LE

D

to the currents that pass through, but the flow through which no more than 22

mA. While the receiver used is a photo diode or photo transistor.

Photo diodes are electronic components which, when exposed to light, it willcause a potential difference on its feet.

Comparator

Comparator is one application of the op-amp (operational amplifier), which hasthe function of comparing two given potential.

Chapter IVDescription of Creation

I. SensorSensor is a part of electronic that has a function to translate

quantities of physic around to be electric quantity that can be learned

with electronic series. In this project, sensor of luminous intensity usedto detect the existence of white line on the black surface. This partcalled Photodiode.

Photodiode has low resistance in forward bias situation. In linetracer, reverse bias situation used when the resistance of photodiodewill decrease along luminous intensity that absorbed with photodiode.

If light didn’t touch photodiode, there is no

current to flows to comparator circuit. If light touches

Reverse Bias Forward Bias

LED

Surface

PD

SENSO COMPARATORMOTO

R MOTOR





III. Motor Driver

Motor driver used in line tracer to controll the movement of motor. The direction of motor or the speed of motor. There are somekind of driver.

Voltage Control Driver

With this driver, the voltage of current can be used to control the speedof movement of motor. This driver isn’t chosen to be part of this projectbecause this driver only can control the speed without the direction.

PWM Driver

PWM is abstraction fromPulse With Modulation.

Its mean the pulse of current (can be seen withoscillator) can bemodified by user. ThisDriver also can bestabilizer of current. Sofrom that, motor thatused this driver won’t bebroken easily. But thisdriver didn’t use in this

project because components of this

driver is more than the other driver.

H Driver

This driver in robotic has known well asH-Bridge because the scheme of thisdriver formed letter H. In line tracer, Hdriver used to control the direction of motor. Directions are clockwise (CW)and counter-clockwise (CCW). Thisdriver has 4 transistors as switcher fromcomparator alternately to switch thepolarity of motor.

Motor (DC)

Motor is the actuator of robot. In this project, we use motor thatcylindrical shaped because the speed is more stable than other shape. This motor has simple construction like picture below.



Ways of working of this motor very simple. When there is a

current that enter into motor through polarity of motor, momen kople

will occur to give force to spin the motor.

Chassis Design

Chassis in robot made from acrylic has function to place component

easily. What we have to be considered is the thick of the acrylic.

Mechanic that used here has two motors and one wheel.

Placement wheel and sensor

Placement of wheel and sensor is also important. Distance between

sensor and wheel will form isosceles triangle. Its formation make robot

turn easily.

Motor,

driver,

compara

tor

Pow

er

sup

ply

sensor

Free weel

motor



LINE TRACER SCHEME

Component List

R1-R4 10K

R5, R6 470

R7, R8 68

R9-R12 100

R13 33K

R14 330

SB1 LED superbright 5mm

PD1 Photodiode 3mm

LED 1, 2 LED 3mm

Q1, 2, 3, 6 C9012

Q4, 5 C9013



IC LM339



Chapter V

Closing

Alhamdulillah, our project was done here. Although there weremany mistakes, although there were many problems, but this is our firstproject to make erudition. So from that, forgive us with these mistakes.We hope, this erudition make us better soon. Amin.

Referentshttp://www.dprg.org/tutorials/2005-11a/index.htmlhttp://en.wikipedia.org/wiki/Pulse-width_modulation.htmlwww.google.com

http://www.dprg.org/tutorials/2005-11a/index.html

http://en.wikipedia.org/wiki/Pulse-width_modulation.html

http://www.dprg.org/tutorials/2005-11a/index.html

http://en.wikipedia.org/wiki/Pulse-width_modulation.html

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Erudition of Robotic