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PENGANTAR ROBOTIKA AK-012213

PENGANTAR ROBOTIKA AK-012213. Teknik Perancangan Robot Studi Kasus pada Robot Line Follower / Maze Solver. Line Following/Maze Solving Robot. Sumber: http://andyq3lectra.wordpress.com/2009/07/29/membangun-line-follower-robot/. Robot Chassis Design. Robot chassis consists of,

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PENGANTAR ROBOTIKA AK-012213

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  1. PENGANTAR ROBOTIKAAK-012213 Teknik Perancangan Robot Studi Kasus pada Robot Line Follower / Maze Solver

  2. Line Following/Maze Solving Robot Sumber: http://andyq3lectra.wordpress.com/2009/07/29/membangun-line-follower-robot/

  3. Robot Chassis Design Robot chassis consists of, • Frame (ie. aluminium, acrylic) • Components and Mounting • Electronics (microcontroller, motor driver, sensors) • Motor (DC, Servo, Stepper) • Battery (NiCad, NiMH, Lithium, LiPo, Dry Cell) • Wheel

  4. Wheel Selection • Wheel diameter • Wheel texture • Wheel width • Wheel center hole diameter • Wheel mounting techniques

  5. Motor Selection • DC Motor • Servo Motor • Stepper Motor • Common properties of motors • Rotation Per Minute (RPM) • Torque • Operational voltage

  6. Motor Driver • Consists of H-bridge to control the motor • Properties of motor driver • Voltage • Current • Direction • Braking system

  7. Robot Dynamics Velocity = circumference * rpm Velocity = diameter * pi * rpm Velocity = 2 * radius * pi * rpm For example, if your motor has a rotation speed (under load) of 100rpm (determined by looking up the motor part number online) and you want to travel at 3 feet per second, calculate: 3 ft/s = diameter * pi * 100rpm 3 ft/s = diameter * pi * 1.67rps (rotations per second) diameter = 3 ft/s / (3.14 * 1.67 rps) diameter = 0.57 ft, or 6.89"

  8. Robot Dynamics You probably noticed that the larger the diameter of the wheel, or higher the rpm, the faster your robot will go. But this isn't entirely true in that there is another factor involved. If your robot requires more torque than it can give, it will go slower than you calculated. Heavier robots will go slower. Now what you need to do is compare the motor torque, your robot acceleration, and wheel diameter. These three attributes will have to be balanced to achieve proper torque. Torque = Distance * Force Distance = Wheel Radius Force = Torque / Wheel Radius

  9. Calculating Wheel Diameter velocity = diameter * pi * rps diameter = velocity / (pi * rps) Example: 3 ft/s / (pi * 2/s) = wheel diameter = .48 feet = 5.73"

  10. Acceleration There is one other factor to consider when choosing acceleration. If your robot is going up inclines or through rough terrain, you will need a higher acceleration due to countering gravity. If say your robot was going straight up a wall, you would require an additional 9.81 m/s^2 (32 ft/s^2) acceleration to counteract. A typical 20 degree incline (as shown) would require 11 ft/s^2. Force = Mass * Acceleration How do you calculate how much additional acceleration you would need for a specific incline? acceleration for inclines = 32 ft/s^2 * sin((angle_of_incline * pi) / 180)

  11. Gearbox • A transmission or gearbox provides speed and torque conversions from a rotating power source to another device using gear ratios.

  12. Sensor Selection (photo detector) • Photo-diode • Photo-transistor • Photo-resistor (LDR)

  13. Microcontroller • Properties of microcontroller: • Clock frequency • Memory capacity • Types and Number of I/O ports • Popular microcontroller family: AVR, PIC

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