1 / 14

Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion

Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion . Presenters . Justin Moses. Joel Lawrence. Spherical Robots. Sphero tm ball robot controlled by iPhone/ iPad Commercially available. Typical Spherical Robots. Movement is controlled by internal mechanisms

ivie
Télécharger la présentation

Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion

  2. Presenters Justin Moses Joel Lawrence

  3. Spherical Robots • Spherotm ball robot controlled by iPhone/iPad • Commercially available

  4. Typical Spherical Robots • Movement is controlled by internal mechanisms • Counter-pendulum • Gyroscope • Internal rotor • Omnidirectional • Can traverse many types of terrain • Have no top – bottom orientations • Sealed off from the environment

  5. Limitations of Spherical Robots • Cannot stop quickly • Cannot overcome obstacles greater than the radius of the sphere • Hard to have a zero-turn radius (hard to turn about the z axis)

  6. Solution Use solenoids!

  7. Why Solenoids? • Allow for greater control of movement • Robot can stop sooner • Robot has the potential to jump to overcome obstacles

  8. Disadvantages • Weight • Cost • Open to the environment • High power consumption

  9. Solenoids and Implementation • Solenoids use inductance to control a plunger • Can be push, pull, or push-pull • Usually have springs to automatically retract or extend after turned off

  10. Spherical Design • Uses solenoids with plungers extending from the shell • Only two rows to show proof of concept • Built inside a hamster ball

  11. Simplified Design • Use a cylinder instead of a sphere • Use the body of a pen to stop the plungers • Everything else stays the same

  12. Controlling the Robot • TI MSP430 as the microcontroller • Either a TIP31 or a MJE3055 BJT • 7805 5v rectifier IC • Standard 120 Vac to 12 Vdc wall plug • Coded using Code Composer Studio

  13. Testing • Used LEDs to indicate which solenoid should be activated • Original 2N3904 transistors failed

More Related