development of wireless mechanism to ...eprints.uthm.edu.my/id/eprint/2419/1/omar_abdel.pdfomar...
TRANSCRIPT
![Page 1: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/1.jpg)
DEVELOPMENT OF WIRELESS MECHANISM
TO REDUCE WIRING COMPLEXITIES OF
ROBOT MANIPULATOR
OMAR ABDEL AZIZ MOHAMED ABDEL AZIZ
A thesis submitted in
fulfillment of the requirement for the award of the
Degree of Master of Mechanical Engineering
Faculty of Mechanical and Manufacturing Engineering
Universiti Tun Hussein Onn Malaysia
Septemper 2011
![Page 2: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/2.jpg)
ABSTRACT
Wires in the robotics system are used to connect between controllers and the DC
power sources; these controllers include the microcontrollers, sensors and actuators.
These wires that pass through the robot manipulators unnecessarily induce
complexities which inhibit the manipulator flexibility. Wiring complexities consists
of the control wires which are used to connect between controllers, and power source
wires which conduct the current to the controller components. This research aims to
reduce these wires complexities. Instead of control wires, a wireless voltage
regulatory (WVR) module was developed. The WVR has the ability to form
Bluetooth network between controllers integrated with an adaptive voltage
regulation. The adaptive voltage regulation purpose is to control the DC motors or
any other devices that require voltage regulation in the control system. It was attained
by applying the fuzzy control. lnstead of Power source wires, a modification for the
translational and rotational mechanisms design is proposed to conduct the DC power
wirelessly. A physical model demonstrating the developed wireless module and the
proposed mechanical modification was built, and its performance is presented. The
contribution of this work includes enhancement of the robots manipulator flexibility,
functionalities and applications by reducing wires complexities.
![Page 3: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/3.jpg)
![Page 4: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/4.jpg)
![Page 5: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/5.jpg)
![Page 6: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/6.jpg)
![Page 7: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/7.jpg)
![Page 8: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/8.jpg)
![Page 9: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/9.jpg)
![Page 10: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/10.jpg)
![Page 11: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/11.jpg)
![Page 12: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/12.jpg)
![Page 13: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/13.jpg)
![Page 14: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/14.jpg)
![Page 15: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/15.jpg)
![Page 16: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/16.jpg)
![Page 17: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/17.jpg)
![Page 18: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/18.jpg)
![Page 19: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/19.jpg)
![Page 20: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/20.jpg)
![Page 21: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/21.jpg)
![Page 22: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/22.jpg)
![Page 23: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/23.jpg)
![Page 24: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/24.jpg)
![Page 25: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/25.jpg)
![Page 26: DEVELOPMENT OF WIRELESS MECHANISM TO ...eprints.uthm.edu.my/id/eprint/2419/1/Omar_Abdel.pdfOMAR ABDEL AZIZ MOHAMED ABDEL AZIZ A thesis submitted in fulfillment ofthe requirement for](https://reader033.vdocument.in/reader033/viewer/2022050217/5f62a30932f7b7633c076945/html5/thumbnails/26.jpg)