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The above robotic arm is really a lot of enjoyable to build and apply. It applies a first and 3rd class lever, and includes a fun linkage for the grabber. It can grab, pick up, and move to the side. A great first task to warm you up implementing levers and hydraulics.

You can peg the small items that hold the long arm (as I have), but it takes very precise drilling, so your best bet is to glue the little cross items. Once the glue is set though, drilling and pegging will make this model last forever ( perhaps lengthier).

Build a Simple Robotic Arm tutorial download:
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Lecture 2. Technologies in Robots

Lecture 3. Industrial Robots

Lecture 4. Industrial Manipulators and its Kinematics

Lecture 5. Parallel Manipulators

Lecture 6. Grippers Manipulators

Lecture 7. Electric Actuators

Lecture 8. Actuators – Electric, Hydraulic, Pneumatic

Lecture 9. Internal State Sensors

Lecture 10. Internal State Sensors

Lecture 11. External State Sensors

Lecture 12. Trajectory planning

Lecture 13. Trajectory Planning

Lecture 14. Trajectory Planning

Lecture 15. Trajectory Planning

Lecture 16. Trajectory Planning

Lecture 17. Trajectory Planning

Lecture 18. Trajectory Planning

Lecture 19. Trajectory Planning

Lecture 20. Forward Position Control

Lecture 21. Inverse Problem

Lecture 22. Velocity Analysis

Lecture 23. Velocity Analysis

Lecture 24. Dynamic Analysis

Lecture 25. Image Processing

Lecture 26. Image Processing

Lecture 27. Image Processing

Lecture 28. Image Processing

Lecture 29. Image Processing

Lecture 30. Image Processing

Lecture 31. Robot Dynamics and Control

Lecture 32. Robot Dynamics and Control

Lecture 33. Robot Dynamics and Control

Lecture 34. Robot Dynamics and Control

Lecture 35. Robot Dynamics and Control

Lecture 36. Robot Dynamics and Control

Lecture 37. Futuristic Topics in Robotics

Lecture 38.

Lecture 39.

Lecture 40. Futuristic Topics in Robotics

You may see the video here.

This line follower robot is very small and simple. This robot is running fast and follow the line very smoothly.

Mechanics

All mechanical and electrical parts are mounted on a proto board, and it also constitutes the chasis.

The line following robot is upheld in three points of two driving wheels and a free wheel. The driving wheels are made with a 7 mm dia ball bearing and a rubber tire. The free wheel is a 5 mm dia ball bearing attached loosely. To drive driving wheels, two tiny vibration motors that used for cellular phone, pager or any mobile equipment are used. Its shaft is pressed onto the tire with a spring plate, the output torque is transferred to the wheels.

The steearing mechanism is realized in differential drive that steear the robot by difference in rotation speed between the left wheel and the right wheel. It does not require any additional actuator, only controling the wheel speed will do.

Line detector and Photo reflector

To detect a line to be followed, most contestants are using two or more number of poto-reflectors. Its output current that proportional to reflection rate of the floor is converted to voltage with a resister and tested it if the line is detected or not. However the threshold voltage cannot be fixed to any level because optical current by ambent light is added to the output current like the image shown right.

Most photo-detecting modules for industrial use are using modurated light to avoid interference by the ambient light. The detected signal is filtered with a band pass filter and disused signals are filtered out. Therefore only the modurated signal from the light emitter can be detected. Of course the detector must not be saturated by ambient light, this is effective when the detector is working in linear region.

In this project, pulsed light is used to cancel ambient light. This is suitable for arraied sensors that scanned in sequence to avoid interference from next sensor. The microcontroller starts to scan the sensor status, sample an output voltage, turn on LED and sample again the output voltage. The difference between the two samples is the optical current by LED, output voltage by the ambient light is canceled. The other sensors are also scanned the same avobe in sequence.

Line Detection Signal Processing

Right image shows the actual line posisiton vs detected line position in center value of 640. The microcontroller scans six sensors and calcurates the line position by output ratio of two sensors near the line. Thus the line position can be detected lineary with only six sensors. All the sensor outputs are captured as analog value that proportioning to reflection ratio, and the sensitivity have variety between each one of them. In this system, to remove the variations from the outputs, calibration parameters for each sensor can be held into non-volatile memory. This can be done with online mode. The microcontroler enters the online mode when an ISP cable is attached, and it can be controlled with a terminal program in serial format of N81 38.4kbps. S1 command monitors sensor values, and S2 command calibrates variation of sensor gain on the reference surface (white paper). The ATmega8 must be set to 8MHz internal osc.

Tracking Control

The line position is compeared to the center value to be tracked, the position error is processed with Proportional/Integral/Diffence filters to generate steering command. The line folloing robot tracks the line in PID control that the most popular argolithm for servo control.

The proportional term is the commom process in the servo system. It is only a gain amplifire without time dependent process. The differencial term is applied in order to improve the responce to disturbance, and it also compensate phase lag at the controled object. The D term will be required in most case to stabilize tracking motion. The I term is not used in this project from following resons. The I term that boosts DC gain is applied in order to remove left offset error, however, it often decrease servo stability due to its phase lag. The line following operation can ignore such tracking offset so that the I term is not required.

When any line sensing error has occured for a time due to getting out of line or end of line, the motors are stopped and the microcontroller enters sleep state of zero power consumption.
Notes:

• Development diary [Ja]
• Circuit diagram
• Firmware May 23, 2004
• Following motion with only P control
  This is a video file of line following motion with only P control. The servo system oscllated.
• Following motion with P and D controls
  Adding D control could improve the servo stability. The robot follows the line correctly. Therefore the servo parameter must be optimized for mechanical characterristics to improve the tracking stability.

Mechatronics – Principles and Applications is designed to serve as a mechatronics course text. The text serves as instructional material for undergraduates who are embarking on a mechatronic course, but contains chapters suitable for senior undergraduates and beginning postgraduates. It is also valuable resource material for practicing electronic, electrical, mechanical, and electromechanical engineers.

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Ho it can be..?
There are many robot tutorial has been written and published through blog or web. I found interesting robot tutorial from this web. The author said that he build the robot just in 2 hours, you also can see the video there… just visit the web…

Choosing DC motors is not simple as it says. You need to calculate the velocity, voltage, current and the most important is… torque… I’ve some experience about choosing the DC motor for my robots. Sometime my robot going wild with high velocity motor and low torque motor. Sometime my robot is to slow but the acceleration is very good, so easy to be controlled.

If you build a robot, you must pay attention about this tutorial.

Go to this page for the tutorial.

This tutorial will teach you how to make hexapod robot using 3 servo motors:

Download Hexapod Robot Tutorial:
hexapod.pdf

Download The video:
hexapod video.wmv

This tutorial will teach you how to control servo motor using parallax device.

Download here:
robotics servo.pdf

Many fire fighting robot competition in the world with diffrerent mission but have similiar field…
Here some useful reports of fire fighting robot project.:

» fire_fighting_robot_project1.pdf
» Zephyr_Final_Report_Fire_Fighting_Robot.pdf
» Multiple_Robot_Path_Planning_Strategies_for_Bush_Fire_Fighting.pdf
» navigation_robot_tutorial.pdf
» Firebot.pdf
» FireFightingRobot.pdf
» Fire_Fighting_Neural_Robot.pdf
» MQP_Fire_Fighting_Robot_Report.pdf
» Fire_Fighting_Robot_Tutorial.rar