TREE CLIMBING ROBOT

Submitted in the partial fulfillment of the requirement for the award of

“DIPLOMA IN MECHANICAL ENGINEERING ”

SUBMITTED BY:

1. G.K. MANIGANDAN 4. J. DHANAJEYAN 2. B. KARTHIKEYAN 5. D. DURAIVEL 3. P. BALASUBRAMANI 6. L. PRABHU

Under guidance of

Mr. SABARINATHAN,M.E.

MARCH 2014.

DEPARTMENT OF MECHANICAL ENGINEERING

SRI DURGA DEVI POLYTECHNIC COLLEGEKAVERIPETTAI, CHENNAI – 600053

SRI DURGA DEVI POLYTECHNIC COLLEGEKAVERIPETTAI, CHENNAI – 600053

BONAFIDE CERTIFICATE

This is to certify that this Project work on

“TREE CLIMBING ROBOT”

submitted by …………………… ……………. Reg. No. ……………

in partial fulfillment for the award of

DIPLOMA IN MECHANICAL ENGINEERING

This is the bonafide record of work carried out by him under

our supervision during the year 2014

Submitted for the Viva-voce exam held on ……………..

HEAD OF THE DEPARTMENT PROJECT GUIDE

INTERNAL EXAMINER EXTERNAL EXAMINER

ACKNOWLEDGEMENT

ACKNOWLEDGEMENT

At the outset, we would like to emphasize our sincere thanks to the

Principal Mr. ================., M.E., MISTE., Ph.D.,

encouragement and valuable advice.

we thank our Esquired Head of Department Mr MEGANATHAN, M.E.,

for presenting his felicitations on us.

We are grateful on our Entourages Mr. SABARINATHAN , M.E.,

for guiding in various aspects of the project making it a grand success.

We also owe our sincere thanks to all staff members of the

Mechanical Engineering Department.

Ultimately, we extend our thanks to all who had rendered their co-

operation for the success of the project.

CONTENTS

CONTENTS

Chapter No. TITLE

1. INTRODUCTION

2. SYNOPSIS

3. CONSTRUCTION

4. WORKING PRINCIPLE

5. ADVANTAGES

6. MECHANICAL SPARE PARTS DETAILS

7. ELECTRICAL PARTS DETAILS

8. ELECTRICAL CIRCUIT DETAILS

9. FINISHING AND PAINTING

10. COST ESTIMATION

11. CONCLUSION

12. BIBILOGRAPHY

INTRODUCTION

INTRODUCTION

This is a self – assessment test on the part of the students to assess his

competency in creativity.

During the course of study, the student is put on a sound theoretical

foundation of various mechanical engineering subjects and of course, to a

satisfactory extent. Opportunities are made available to him to work on

different kinds of machines, so that he is exposed to various kinds of

manufacturing process.

As a students learn more and more his hold on production technology

becomes stronger. He attains a stage of perfection, when he himself is able

to design and fabricate a device.

This is the project work. That is the testimony for the strenuous

training, which the student had in the institute. This assures that he is no

more a student, he is an engineer.

This report discuses the necessity of the project and various aspects of

planning , design, selection of materials, fabrication, erection, estimation and

testing.

SYNOPSIS

SYNOPSIS

From centuries humans have been climbing trees and poles for various

jobs. This thing we have inherited from our ancestors. Evidently, this skill

has evolved from the need of protection from animals or collecting food

from trees. In the present world climbing poles is used in other fields of

technology as well.

With time the needs have increased. The requirement to carry load on and

off the trees and poles has shifted man’s focus on building machines to do

the job.

This “Tree Climber” is built to solve the problems man faced with climbing.

The robot works on two sub-mechanisms:

(a) Gripping

(b) Climbing

The machine could take load on and off the tree and pole whenever required.

The robot is autonomous.

The speed of climbing depends on the pitches of the ball screws placed for

movements of arms and the top and bottom gripper assembly.

The movement of the machine is like an ape climbing the tree.

First, the upper pair of arms grip the tree then the body moves up then the

lower pair of arms grip the tree then the upper pair leaves the contact and the

body moves up.

OBJECTIVE:

To build a Tree climbing machine which can bear a loading up to 2

kilograms.

@ Initial Problem Statement:

The machine should be able to climb straight poles and trees to fulfill all

purposes.

CONSTRAINTS:

It is difficult to build a heavy machine in the students’ lab.

Trees and poles have different friction coefficient values and different

built structures so the devised mechanism should be such that it works

equally good for both kind of surfaces.

LIMITATIONS OF DESIGN:

The robot is built for branchless trees.

The load carrying capacity could be maximized only to 3 kgs

WORKING OPERATION

WORKING OPERATION

BLOCK DIAGRAM

Hand operated remote control

ARIEL

5V

Power supply

BATTERY

MAIN PROCESSOR

Forward RELAY

Start SWITCH

MOTOR 1,2 and 3

ReverseRELAY

5VDC TO 12VDC DRIVE CARD

5VDC TO 12VDC DRIVE CARD

CIRCUIT DETAILS

HARD WARE CIRCUIT REQUIREMENTS

The hardware circuit requirements details consists of

1. Micro controller system

2. Power supply –BATTERY 7.5AH /12 V DC)2 NOS

3. 5VDC TO 12VDC DRIVE CARD

4. REMOTE CONTROL CIRCUIT

5. MOTOR FORWARD AND REVERSE CONTROL RELAY

6. 24DC MOTOR WIYH BUILT IN GEAR BOX

MICRO CONTROLLER SYSTEM:

This system monitors the engine condition by using PIC 16F870 (28

pin IC Package) micro controller. The pin details of micro controller are

shown in figure.

The circuit diagram for this micro controller board is shown below,

the reset switch is connected to PORTA (i.e)pin no 1, The start switch is

connected to PORT B, 7 and MOTOR is connected to PORT C, The power

supply is connected to Pin 19 & 20.The ARIEL CIRCUIT is connected to

PORTB ,6.and PORTB ,7

POWER SUPPLY 5V DC AND 12V DC;

A 12 –0 v step down transformer is used to step down 230V AC to

12V AC .This 12V AC supply is converted to 12V DC using four rectifier

diodes. The voltage from the rectifier section is regulated to 12V DC using

7812 IC .This voltage is used for supply for the DC motor. From 12V DC

the 7805 IC is used for regulating 5V DC for the power supply of

microcontroller. The power supply circuit is shown in fig.

Power Supply:

There are many types of power supply. Most are designed to

convert high voltage AC mains electricity to a suitable low voltage supply

for electronics circuits and other devices. A power supply can by broken

down into a series of blocks, each of which performs a particular function.

For example a 5V regulated supply can be shown as below

Block Diagram of a Regulated Power Supply System

Similarly, 12v regulated supply can also be produced by

suitable selection of the individual elements. Each of the blocks is

described in detail below and the power supplies made from these

blocks are described below with a circuit diagram and a graph of their

output:

Transformer:

A transformer steps down high voltage AC mains to low voltage AC.

Here we are using a center-tap transformer whose output will be sinusoidal

with 36volts peak to peak value.

The low voltage AC output is suitable for lamps, heaters and special AC

motors. It is not suitable for electronic circuits unless they include a rectifier

and a smoothing capacitor. The transformer output is given to the rectifier

circuit.

Rectifier:

A rectifier converts AC to DC, but the DC output is varying. There

are several types of rectifiers; here we use a bridge rectifier.

The Bridge rectifier is a circuit, which converts an ac voltage to dc

voltage using both half cycles of the input ac voltage. The Bridge rectifier

circuit is shown in the figure. The circuit has four diodes connected to form

a bridge. The ac input voltage is applied to the diagonally opposite ends of

the bridge. The load resistance is connected between the other two ends of

the bridge.

For the positive half cycle of the input ac voltage, diodes D1 and D3

conduct, whereas diodes D2 and D4 remain in the OFF state. The

conducting diodes will be in series with the load resistance RL and hence the

load current flows through RL.

For the negative half cycle of the input ac voltage, diodes D2 and D4

conduct whereas, D1 and D3 remain OFF. The conducting diodes D2 and

D4 will be in series with the load resistance RL and hence the current flows

through RL in the same direction as in the previous half cycle. Thus a bi-

directional wave is converted into unidirectional.

Rectifier circuit

Output of the Rectifier

The varying DC output is suitable for lamps, heaters and standard

motors. It is not suitable for lamps, heaters and standard motors. It is not

suitable for electronic circuits unless they include a smoothing capacitor.

Smoothing or filtering:

The smoothing block smoothes the DC from varying greatly to a

small ripple and the ripple voltage is defined as the deviation of the load

voltage from its DC value. Smoothing is also named as filtering.

Filtering is frequently effected by shunting the load with a

capacitor. The action of this system depends on the fact that the capacitor

stores energy during the conduction period and delivers this energy to the

loads during the no conducting period. In this way, the time during which

the current passes through the load is prolonging Ted, and the ripple is

considerably decreased. The action of the capacitor is shown with the help of

waveform.

Waveform of the rectified output smoothing

Regulator:

Regulator eliminates ripple by setting DC output to a fixed voltage.

Voltage regulator ICs are available with fixed (typically 5V, 12V and 15V)

or variable output voltages. Negative voltage regulators are also available

Many of the fixed voltage regulator ICs has 3 leads (input, output

and high impedance). They include a hole for attaching a heat sink if

necessary. Zener diode is an example of fixed regulator which is shown

here.

Regulator

Fig.1.5

Transformer + Rectifier + Smoothing + Regulator:

RELAY:

Relay is electromechanical device, which is used to operate the two

different voltages.

Fig.1.6

SPECIFICATION OF RELAY:

a) Nature of supply: 12v dc to 230 v ac

b) Coil voltage: 12v

c) No of NO and NC contacts: 1, 1

d) No of poles: single pole double throw

e) Shape of contact point: flat

f) Contact point material: silver or silver alloy

g) Type of relay: electro mechanical

5 TO 24 V DC DRIVE CARD

Here we have to drive the 12V DC load. The 5V signal from

the PIC 16F870 micro-controller is fed into the input of interface

circuit. SL100 transistor is used here for high speed switching

purpose and IRF 540N MOSFET is connected to the motor to

handle the larger current drawn by the MOTOR.

RESISTORS: -

A Resistor is a heat-dissipating element and in the electronic circuits it is

mostly used for either controlling the current in the circuit or developing a voltage

drop across it, which could be utilized for many applications. There are various

types of resistors, which can be classified according to a number of factors

depending upon:

Material used for fabrication

Wattage and physical size

Intended application

Ambient temperature rating

Cost

Basically the resistor can be split in to the following four parts from the

construction view point.

(1) Base

(2) Resistance element

(3) Terminals

(4) Protective means.

The following characteristics are inherent in all resistors and may be

controlled by design considerations and choice of material i.e. Temperature co–

efficient of resistance, Voltage co–efficient of resistance, high frequency

characteristics, power rating, tolerance & voltage rating of resistors. Resistors

may be classified as

(1) Fixed

(2) Semi variable

(3) Variable resistor.

CAPACITORS

The fundamental relation for the capacitance between two flat plates

separated by a dielectric material is given by:-

C=0.08854KA/D

Where: -

C= capacitance in pf.

K= dielectric constant

A=Area per plate in square cm.

D=Distance between two plates in cm

Design of capacitor depends on the proper dielectric material with

particular type of application. The dielectric material used for capacitors may be

grouped in various classes like Mica, Glass, air, ceramic, paper, Aluminum,

electrolyte etc. The value of capacitance never remains constant. It changes with

temperature, frequency and aging. The capacitance value marked on the

capacitor strictly applies only at specified temperature and at low frequencies.

LED (Light Emitting Diodes):

As its name implies it is a diode, which emits light when forward biased.

Charge carrier recombination takes place when electrons from the N-side cross

the junction and recombine with the holes on the P side. Electrons are in the

higher conduction band on the N side whereas holes are in the lower valence

band on the P side. During recombination, some of the energy is given up in the

form of heat and light. In the case of semiconductor materials like Gallium

arsenide (GaAs), Gallium phoshide (Gap) and Gallium arsenide phoshide

(GaAsP) a greater percentage of energy is released during recombination and is

given out in the form of light. LED emits no light when junction is reverse biased.

3.a  Relay:

A relay is an electrically operated switch. Many relays use an electromagnet

to operate a switching mechanism mechanically, but other operating

principles are also used. Relays are used where it is necessary to control a

circuit by a low-power signal (with complete electrical isolation between

control and controlled circuits), or where several circuits must be controlled

by one signal. The first relays were used in long distance telegraph circuits,

repeating the signal coming in from one circuit and re-transmitting it to

another. Relays were used extensively in telephone exchanges and early

computers to perform logical operations.

 

A type of relay that can handle the high power required to directly control an

electric motor is called a contactor. Solid-state relays control power circuits

with no moving parts, instead using a semiconductor device to perform

switching. Relays with calibrated operating characteristics and sometimes

multiple operating coils are used to protect electrical circuits from overload

or faults; in modern electric power systems these functions are performed by

digital instruments still called "protective relays".

 

 

3.b  Basic design and operation:

A simple electromagnetic relay consists of a coil of wire surrounding soft

iron core, an iron yoke which provides a low reluctance path for magnetic

flux, a movable iron armature, and one or more sets of contacts (there are

two in the relay pictured). The armature is hinged to the yoke and

mechanically linked to one or more sets of moving contacts. It is held in

place by a spring so that when the relay is de-energized there is an air gap in

the magnetic circuit. In this condition, one of the two sets of contacts in the

relay pictured is closed, and the other set is open. Other relays may have

more or fewer sets of contacts depending on their function. The relay in the

picture also has a wire connecting the armature to the yoke. This ensures

continuity of the circuit between the moving contacts on the armature, and

the circuit track on the printed circuit board (PCB) via the yoke, which is

soldered to the PCB.

 

When an electric current is passed through the coil it generates a magnetic

field that attracts the armature and the consequent movement of the movable

contact either makes or breaks (depending upon construction) a connection

with a fixed contact. If the set of contacts was closed when the relay was de-

energized, then the movement opens the contacts and breaks the connection,

and vice versa if the contacts were open. When the current to the coil is

switched off, the armature is returned by a force, approximately half as

strong as the magnetic force, to its relaxed position. Usually this force is

provided by a spring, but gravity is also used commonly in industrial motor

starters. Most relays are manufactured to operate quickly. In a low-voltage

application this reduces noise; in a high voltage or current application it

reduces arcing.

 When the coil is energized with direct current, a diode is often placed across

the coil to dissipate the energy from the collapsing magnetic field at

deactivation, which would otherwise generate a voltage spike dangerous to

semiconductor circuit components. Some automotive relays include a diode

inside the relay case. Alternatively, a contact protection network consisting

of a capacitor and resistor in series (snubber circuit) may absorb the surge. If

the coil is designed to be energized with alternating current (AC), a small

copper "shading ring" can be crimped to the end of the solenoid, creating a

small out-of-phase current which increases the minimum pull on the

armature during the AC cycle.

 A solid-state relay uses a thyristor or other solid-state switching device,

activated by the control signal, to switch the controlled load, instead of a

solenoid. An optocoupler (a light-emitting diode (LED) coupled with a

photo transistor) can be used to isolate control and controlled circuits.

 

3.c  Type of Relay:

·         Latching relay

·         Reed relay

·         Mercury-wetted relay

·         Polarized relay

·         Machine tool relay

·         Contactor relay

·         Solid-state relay

·         Solid state contactor relay

·         Buchholz relay

·         Forced-guided contacts relay

·         Overload protection relay

 3.d Applications:

Relays are used to and for:

·         Control a high-voltage circuit with a low-voltage signal, as in some

types of modems or audio amplifiers,

·         Control a high-current circuit with a low-current signal, as in the

startersolenoid of an automobile,

·         Detect and isolate faults on transmission and distribution lines by

opening and closing circuit breakers (protection relays),

A DPDT AC coil relay with "ice cube" packaging

·         Isolate the controlling circuit from the controlled circuit when the two

are at different potentials, for example when controlling a mains-powered

device from a low-voltage switch. The latter is often applied to control office

lighting as the low voltage wires are easily installed in partitions, which may

be often moved as needs change. They may also be controlled by room

occupancy detectors in an effort to conserve energy,

·         Logic functions. For example, the boolean AND function is realised

by connecting normally open relay contacts in series, the OR function by

connecting normally open contacts in parallel. The change-over or Form C

contacts perform the XOR (exclusive or) function. Similar functions for

NAND and NOR are accomplished using normally closed contacts. The

Ladder programming language is often used for designing relay logic

networks.

·         Early computing. Before vacuum tubes and transistors, relays were

used as logical elements in digital computers. See ARRA (computer),

Harvard Mark II, Zuse Z2, and Zuse Z3.

·         Safety-critical logic. Because relays are much more resistant than

semiconductors to nuclear radiation, they are widely used in safety-critical

logic, such as the control panels of radioactive waste-handling machinery.

·         Time delay functions. Relays can be modified to delay opening or

delay closing a set of contacts. A very short (a fraction of a second) delay

would use a copper disk between the armature and moving blade assembly.

Current flowing in the disk maintains magnetic field for a short time,

lengthening release time. For a slightly longer (up to a minute) delay, a

dashpot is used. A dashpot is a piston filled with fluid that is allowed to

escape slowly. The time period can be varied by increasing or decreasing the

flow rate. For longer time periods, a mechanical clockwork timer is

installed.

 

INTRODUCTION TO

MICROCONTROLLER

INTRODUCTION TO MICROCONTROLLER

PIC WITH RS-232

INTRODUCTION:

The PIC Microcontrollers are supported with a full range of Hardware

and software development tools. The used PIC16F870 device comes in 28

pin package. To communicate with the PIC we are using RS-232 standard

port of computer. In personal computer, data transfer takes place serially.

RS-232 standard is used for serial communication. PIC Microcontroller is

linked to PC through the RS-232 port. The PC displays the menu for

selecting the calibrating equipment and all the calibration results graphically

and in tabular form. The user can access the calibration reports, comparison

graphs etc at any time using the menu offered in the PC.

PIC MICROCONTROLLER:

The PIC Microcontrollers are supported with a full range of hardware

and software development tools. The used PIC16F870 device comes in 28

pin package. To communicate with the PIC we are using RS-232 port of the

computer. So we have to initialize the port before using it. To initialize and

to communicate with the PIC, the file COM.C defines and uses several

functions. The functions and their definitions are given below.

ADC RELATED FUNCTIONS:

void Set Reference (int ref);

This function is used to set the INTERNAL or EXTERNAL reference for

the ADC.

The parameter ref can accept any one of the two values. They are,

Internal_ref

External_ref

Set Reference (INTERNAL_REF);

Float GetAdcCh(int Chno);

This function is used to get the specified channel’s (Chno) digital value

from ADC. The parameter Chno can accept a range of values from 0 to 9,

which is the channel number.

For example,

Var = GetAdcCh(5);

Void Initialize Port (char * str);

This function must be called before performing any digital input/output

operation.

Register D:

Register D:

Register C:

Register A:

Reserved Bits Can be configured asCannot alter

Configurable bits can be either zero or one according to the initialization. If

the particular bit is to be used as a input port then write ‘1’ to it else ‘0’ for

output.

For Example,

Initialize Port (“[1ffffffff]”);

Above statement mention all registers bits are act as input port.

MICROCONTROLLER CORE FEATURES:

High-performance RISC CPU

Only 35 single word instructions to learn

All single cycle instructions except for program branches which are

two cycles

Operating speed: DC-20 MHz clock input DC – 200 ns instruction

cycle

4K x 14 words of Program Memory, 256 x 8 bytes of Data Memory

(RAM)

Interruput capability (upto 14 Internal / External interrupt sources)

Eight level deep hardware stack

Direct, indirect, and relative addressing modes

Power-on Reset (POR)

Power-up Timer (PWRT) and Oscillator Start-up Timer (OST)

Watchdog timer (WDT) with its own on-chip RC oscillator for

reliable operation

Programmable code-protection

Power saving SLEEP mode

Selectable oscillator options

Low-power, high-speed CMOS EPROM technology

Fully static design

In-circuit Serial Programming (ISC)

Wide operating voltage range: 2.5V to 5.5V

High Sink / Source current 25/25 mA

Commercial and Industrial temperature ranges

Low power consumption

<2 mA at 5V, 4 MHz

22.5 mA typical at 3V, 32 KHz

<1 mA typical standby current

PERIPHERAL FEATURES:

Timer 0: 8-bit timer / counter with 8-bit prescaler

Timer 1: 16 bit timer / counter with prescaler, can be incremented

during sleep via external crystal/clock

Timer 2: 8 bit timer / counter with 8 bit period register, prescaler and

postscaler

Two capture, compare, PWM modules

Caputure is 16 bit, max. resolution is 12.5 ns

Compare is 16 bit, max. resolution is 200 ns,

PWM max. resolution is 10 bit

12 bit multi channel Analog-to Digital converter

On-chip absolute band gap voltage reference generator

Synchronous Serial Port (SSP) with SPI (Master Mode) and I 2 C

Universal Synchronous Asynchronous Receiver Transmitter, supports

high / low speeds and 9 bit address mode (USART/SCI)

Parallel Slave Port (PSP) 8 bits wide, with external RD, WR and CS

controls

Programmable Brown out detection circuitry for Brownout Reset

(BOR)

Programmable Low-voltage detection circuitry

SOFTWARE DETAILS

(INSTRUCTION SET)

INTRODUCTION:

Each PIC16F870 instruction is a 14 bit word divided into an opcode

which specifies the instruction type and one or more operands which further

specify the operation of the instruction. The PIC16F870 instruction set

summary in Table lists byte oriented bit-oriented and literal and control

operations. Table shows the opcode field descriptions. For byteoriented

instructions, ‘f’ represents a file register designator and ‘d’ represents a

destination designator. The file register designator specifies which file

register is to be used by the instruction. The destination designator specifies

where the result of the operation is to be placed. If ‘d’ is zero, the result is

placed in the W register. If ‘d’ is one, the result is placed in the file register

specified in the instruction. For bit-oriented instructions. ‘b’ represents a bit

field designator which selects the number of the bit affected by the

operation, while ‘f’ represents the number of the file in which the bit is

located. For literal and control operations, ‘k’ represents an eight or eleven

bit constant or literal value.

The instruction set is highly orthogonal and is grouped into three basic

categories,

Byte oriented operations

Bit-oriented operations

Literal and control operations

All instructions are executed within one single instruction cycle,

unless a conditional test is true or the program counter is changed as a result

of an instruction. In this case, the execution takes two instruction cycles

with the second cycle executed as a NOP. One instruction cycle consists of

four oscillator periods. Thus, for an oscillator frequency of 4 MHz, the

normal instruction execution time is 1 micro second. If a conditional test is

true or the program counter is changed as a result of an instruction, the

instruction execution time is 2 s. All examples use the following format to

represent a Hexadecimal number : 0xhh, where h signifies a hexadecimal

digit.

GENERAL FORMAT FOR INSTRUCTIONS:

FIELD DESCRIPTION:

f Register file address (0 x 00 to 0x7F)

W Working register (accumulator)

b Bit address within an 8-bit file register

k Literal field, constant data or label

x Don’t care location (=0 or 1)

INSTRUCTION SET

16CXX has 35 instructions. All instructions are single cycle, except

for any program that branches. This take two cycles since the fetch

instruction is flushed from the pipe line by changing the content of PC,

while the new instruction is being fetched and then executed. The

instruction set is grouped into three basic categories.

# Byte Oriented operations

# Bit oriented operations

# Literal and control operations

For byte-oriented instructions, ‘f’ represents a file register designator

and ‘d’ represents destination designator. The file register designator

specifies which file register is to be used by the instruction. For bit oriented

instructions ‘b’ represents a bit field designator which selects the number of

the bit affected by the operation, while ‘f’ represents the number of the file

in which the bit is located. For literal and control operation ‘k’ represents an

eight or eleven bit constant or literal value.

BYTE ORIENTED FILE REGISTER OPERATIONS:

ADDWF f,d

ANDWF f,d

CLRF f

CLRW

COMPF f,d

DECF f,d

DECFSZ f,d

INCF f,d

INCFSZ f,d

IORWF f,d

MOVF f,d

NOP

RLF f,d

RRF f,d

SUBWF f,d

SWAPF f,d

XORWF f,d

BIT ORIENTED FILE REGISTER OPERATIONS:

BCF f,b

BSF f,b

BTFSC f,b

BTFSS f,b

LITERAL AND CONTROL OPERATIONS:

ADDLW k

ANDLW k

CALL k

CLRWDTR

GOTO k

IORLW k

MOVLW k

RETFIE

RETLW k

RETURN

SLEEP

SUBLW k

XORLW k

ADVANTAGES

ADVANTAGES

It requires simple maintenance cares.

this project does not require any external transmission arrangements.

This add to the system leads safety for coconut tree climber

Easy to Handle.

DISADVANTAGES

DISADVANTAGES

Initial cost is high

High maintenance cost

APPLICATIONS

APPLICATIONS

1.it is used to climb in the electrical post for carrying tools.

2. it is used to carry camera which is held at the top of the tree for research

activities.

ELECTRICAL CIRCUIT DIAGRAM

ELECTRICAL CIRCUIT DIAGRAM

PIC 16F 870

POWER SUPPLY

CONCLUSION

CONCLUSION

We make this project entirely different from other projects. Since

concepts involved in our project is entirely different that a single unit is used

to various purpose which is not developed by any of other team members.

We have successfully complete this project work at our Institute.

By doing this project work we understood the working principle of

uses of various relays, switches, valves and cylinders.

Once again we express our sincere thanks to our staff members.

COST ESTIMATION

COST ESTIMATION

1. Mobile unit -------------- 1000.00

2. CONTROLLER ------------ 2300.00

3. Battery -------------- 400.004. Dc motor ------------------------------------------------1100.00

5. Wires, Screws ------------------ 200.00

6. RELAY circuit---------------------------------------- 600.00

7. Miscellanies charges ----------------------------- 400.00------------------- 6000.00

BIBLIOGRAPHY

BIBLIOGRAPHY

http://researchdesignlab.com

1. Design with Micron roller – John Peatman

2. Customizing and programming PIC Micro controller – Myke Predko

3. Electronics for you Projects – Volume 1 to 15

4. Sensors – Keyence Manual

5. Micro controller and its application – Kenneth Ayala

6. www.microchip.com

7. www.google.com

8. www.8051.com

PHOTO VIEW

PHOTO VIEW