1 / 10

“Gargo”

“Gargo” . University of Florida Intelligent Machines Design Laboratory. Student Name: A.Erdem Altunbas Date: 17 April 2007. Summary. Introduction Integrated System Mobile Platform Actuation Sensors Behaviors. Introduction.

tiernan
Télécharger la présentation

“Gargo”

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. “Gargo” University of Florida Intelligent Machines Design Laboratory Student Name: A.Erdem Altunbas Date: 17 April 2007

  2. Summary • Introduction • Integrated System • Mobile Platform • Actuation • Sensors • Behaviors Gargo

  3. Introduction • The purpose of the robot is to measure the dimensions and weight of the box and with the destination address it will calculate the cost of the shipment and display the result to the customer. The robot will also write the destination address, dimension and weight information into an RFID tag and put the packet onto the appropriate place considering the destination address Gargo

  4. Force Sensing Resistors RFID Reader LCD Keypad LaserPointers Atmega128 H-Bridge Driver DC Motor #1 DC Motor #2 ServoMotor Sonar Photoreflectors BumpSwitches Figure 1: Block Diagram of the overall system Integrated System Gargo

  5. Mobile Platform Gargo

  6. Actuation • 12V, 120rpm with 8.8 kg-cm stall torque DC motors • 4.8V-6V with 57 oz-inch torque servo motor • Sabertooth 2X5 R/C Regenerative Dual Channel Motor Controller has dual motor controllers with 5 amps maximum current. Gargo

  7. Sensors-1 • Bump Switches: • Two bump switches are used to detect obstacles • Laser Pointers: • Three sets of laser pointer arrays are used for each dimension to detect the dimension on that axis • Force Sensing Resistors (FSR): • Four force sensing resistors for measuring the weight of the box • Photoreflectors: • TCRT 5000 IR reflectors are used as Tracker Sensor, the output pins for right , middle and left reflectors are controlled by the Mavric-II. Gargo

  8. Sensors-2 • RFID Reader • Alien ALR-9780 Gargo

  9. Behaviors • Gargo has several behaviors; • (1) waits for the push button input to get the destination address (Gainesville, Florida or out of state) and start information • (2) measures the dimension of the box and decides if it is big, small or smaller. • (3) measures the weight of the box and decides if is heavy, light or lighter. • (4) writes dimension, weight and destination address information to the RFID tag • (5) obstacle detection • (6) line tracking • (7) push the box to the corresponding place in the destination area. Gargo

  10. Thank you Questions ? Gargo

More Related