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Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion PowerPoint Presentation
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Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion

Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion

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Implementation of Solenoids for Cylindrical or Spherical Robotic Locomotion

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  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