presentation on fabrication of a stair climbing vehicle
DESCRIPTION
Stair climbing robotic vehicles can be very efficient tools to speed up search and rescue operations. They should be quick and agile and, at the same time, be able to deal with rough terrain and even to climb stairs. This paper presents the implementation of a stair-climbing vehicle having a robotic arm fabricated not only for the rescue operations but also for any types of industrial application. When an object is taken in front of it, then it grips the object as well as can measure the weight of the objects and sort them according to the weight.TRANSCRIPT
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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