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ROBOCON - 2009

ROBOCON - 2009. ELECTRICAL ASPECTS. Motor Drivers. Sabertooth Link - http://www.dimensionengineering.com/Sabertooth2X10.htm Dual motor driver Current: 10x2 A Voltage: upto 24V Price: $80 tried and tested, no problems reported yet . 2. Pololu

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ROBOCON - 2009

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  1. ROBOCON - 2009 ELECTRICAL ASPECTS

  2. Motor Drivers • Sabertooth • Link - http://www.dimensionengineering.com/Sabertooth2X10.htm • Dual motor driver • Current: 10x2 A • Voltage: upto 24V • Price: $80 • tried and tested, no problems reported yet.

  3. 2. Pololu • Link-http://www.robotshop.ca/home/products/robot-parts/motor-controllers/brushed-motor-controllers/motor-controllers-by-interface/pwm-motor-controllers/pololu-dual-motor-driver-9a.html • Dual motor driver • Current: 2x9 A • Voltage: upto 36V • Price: $50 • current limit slightly lower than sabertooth • Seems less hardy than sabertooth • Cost effective, worth a try

  4. 3. BakatronicsMXA066 • Link :- http://www.bakatronics.com/shop/item.aspx?itemid=581 • Single motor driver • Current: 1x30A • Voltage: 12/24V • Price: $30 (=$60 effectively for dual motors) • very high current limit (of no use to us though) • Cost effective (since some of our applications may require only single motor control) • Website and documentation not very credible

  5. SENSORS (IFM) 1)OO5006 • Link :- http://www.ifm.com/products/IND/ds/OO5006.htm • Specification:- • 6 channels for 6 glass fibre optics • No mutual optical interference • Graphic display • Electronic lock & Function check output • Sensing range:- • 0 ... 400mm (Through-beam sensor) • 0 ... 200mm (Diffuse reflection sensor) • Dimensions:-123.9X76.5X70.7mm

  6. 2).OK5001 • Link :- http://www.ifm.com/products/IND/ds/OK5001.htm • Used last year • Sensing Range: • 0 - 120mm (Through-beam sensor) • 0 - 40mm (Diffuse reflection sensor) • Dimensions:- 50X30X19mm

  7. Lithium Ion Batteries • Energy to weight ratio • No memory effect • Slow loss of charge when not in use • 1 battery for each microcontroller circuit is to be used

  8. Panasonic • http://www.panasonic.com/industrial/battery/oem/chem/lithion/ • Produce 3.6 V • Weight – around 45 g • Capacity – vary from 2.05 -2.5 Ah • Cylindrical • Prismatic have lower capacity Other Manufacturers • Ultralife – • http://www.ultralifebatteries.com/dealer_info.php?ID=505 • Banglore, India

  9. Lithium ion Battery Charger • Separate charging circuit required since they can be damaged if overcharged • Diptrace diagram of circuit is shown

  10. DISTANCE SENSORS Requirement • The need of using distance sensors arose from the fact that Carrier bot (Autonomous) needed a signal to start moving once the traveller bot completes the task of boarding the kago. • The obstacle(traveller bot) is approximately 50 cm from the sensor and well within the range of 80 cm which the distance sensor can successfully detect.

  11. SHARP GP2D12 AVAILABILITY FEATURES • 5 sensors of the same type are already available with us providing good number of backups. • The Sharp GP2D12 is an analog distance sensor that uses infrared to detect an object between 10 cm and 80 cm away. The GP2D12 provides a non-linear voltage output in relation to the distance an object is from the sensor and interfaces easily using any analog to digital converter.

  12. ENCODERS Requirements • Task of synchronizing the cago height and angle • Moving carrier botafter 2nd check point • We are getting encoders from IFM and probably be using them.

  13. Incremental Encoder RU1045 • 6 encoders are already available • Different from the absolute in the sense they require only 2 sensors , hence cheaper • Work on 5V dc • Can give accuracy upto 5000 counts per revolution

  14. Absolute Encoders RN6026 • 2 encoders are available • They require n contacts for 2^n counts • Work on 10-30V dc

  15. EEPROM • Electrically Erasable Programmable Read-Only Memory • To store small amounts of data that must be saved when power is removed. • We are using the serial interface to EEPROM. • Price:-Freely available on microchip of any memory size ranging from 128bit to 1Mb.

  16. I²C™ Serial EEPROM SPI Serial EEPROM

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