WEEK 8 (5 - 10 Sept 2010)

Research about Motor.

- to find the suitable motor for use in this robot.
- to get a speed motor

DC motor

A direct current (DC) motor is a fairly simple electric motor that uses electricity and a magnetic field to produce torque, which turns the motor. At its most simple, a DC motor requires two magnets of opposite polarity and an electric coil, which acts as an electromagnet. The repellent and attractive electromagnetic forces of the magnets provide the torque that causes the DC motor to turn.


Stepper Motor

 
Features of our hybrid stepper motor include:
1. Precise Position Control, linear Speed Selection, forward & Reverse, Pause and Holding Function, long life
2. Low Vibration, Low Noise, low cost, High Speed, High Torque, High Performance, low inertia and high accuracy
3. the variety of accessories and equipment, to meet the customers in different field
4. Most of motors are made as NEMA 8, NEMA 11, NEMA 14, NEMA16, NEMA 17, NEMA17, NEMA23, NEMA24, NEMA34, NEMA 43

Servo Motor

 

    - C36S=C36R
    - Speed (sec/60deg): 0.16/4.8V, 0.14/6.0V
    - Torque (Kg-cm): 3.5/4.8V, 4.5/6.0V (Maximum 6.0V)
    - Size (mm): 40.8x20.18x36.5
    - pulse width  range: 0.546ms to 2.4ms (estimation)
    - Weight (g): 36
    - Designed for "closed feedback".
    - Able to control the position of the motor

Digital Servo

Digital Servo is controlled by a built-in microcontroller unit with sophisticated control algorithm and this will result in several advantages over the conventional standard servo such as:

• Faster respond time
• Higher torque
• Higher precision

Specification:

• Origin: Taiwan
• Plastic Gear with Ball Bearing
• Standard size servo: 40.7mm x 20mm x 37mm
• Torque: 4.1kg.cm
• Speed: 0.17 sec / 60 Degrees
• Weight: 41g
• Maximum Movement Angle: 180 degrees
• Operating Voltage: 4.5V - 6.0V
• C/W Plastic Servo Horn

WEEK 7 (30 August - 3 Sept 2010)

Find the Circuit

Circuit Sensor

This circuit use NE555 timer.

• LOW TURN OFF TIME
• MAXIMUM OPERATING FREQUENCY GREATER THAN 500kHz
• TIMING FROMMICROSECONDS TO HOURS
• OPERATES IN BOTH AS TABLE AND MONO STABLE  MODES
• HIGH OUTPUT CURRENT CAN SOURCE OR SINK 200mA
• ADJUSTABLE DUTY CYCLE
• TTL COMPATIBLE
• TEMPERATURE STABILITY OF 0.005% PER  oC

DESCRIPTION

TheNE555 monolithic timing circuit is a highly stable controller capable of producing accurate time delays or oscillation. In the time delay mode of operation, the time is precisely controlled by one external reistor and capacitor.For as table operation as an osillator, the free running frequency and the duty cycle are both accurately controlled with two external resistors and one capacitor.The circuit may be triggered and reset on falling waveforms, and the output structure can source or sink up to 200mA. The NE555 is available in plastic and ceramic minidip package and in a 8-lead micro package and in metal can package version.

WEEK 6

Research Microcontroller Circuit and Foward Reverse Circuit

 

circuit PIC16f84A

• Only 35 single word instructions to learn

• All instructions single cycle except for program
branches which are two-cycle
• Operating speed: DC - 10 MHz clock input
                             DC - 400 ns instruction cycle

-Tthis microcontroller have 18 pin.

Circuit PIC16f877A

• Only 35 single-word instructions to learn
• All single-cycle instructions except for program branches, which are two-cycle
• Operating speed: DC – 20 MHz clock input
                             DC – 200 ns instruction cycle
• Up to 8K x 14 words of Flash Program Memory, Up to 368 x 8 bytes of Data Memory (RAM),  Up to 256 x 8 bytes of EEPROM Data Memory
• Pinout compatible to other 28-pin or 40/44-pin PIC16CXXX and PIC16FXXX microcontrollers

 

Motor Driven Circuit

• OPERATINGSUPPLY VOLTAGEUP TO 46 V

• TOTAL DC CURRENT UP TO 4 A

• LOWSATURATION VOLTAGE

• OVERTEMPERATURE PROTECTION

• LOGICAL ”0” INPUT VOLTAGE UP TO 1.5 V(HIGHNOISE IMMUNITY)

The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and PowerSO20 packages. It is a high voltage, high current dual full-bridge driver designed to acceptstandardTTL logic levels and drive inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputs are provided to enable or disable the device independently of the input signals. The emitters of the lower transistors of each bridge are connected together and the corresponding external terminal can be used for the connection of an external sensing resistor.An additional supply input is provided so that the logic works at a lower voltage.

WEEK 5 16-20 August 2010

Objective

Objectives This research study intends to plug the research gap and will demonstrate the development for high-speed miniature mobile robot soccer parameter by:

a) The development for high-speed miniature mobile robot soccer by considering the size of the robot.
b) The development for robot soccer competition.
c) To design the robot to be small, compact, quick, strong, stable and with long-lasting power.
d) To create creative body components for ball-handling purposes.
e) To minimize the architecture of robot.

Figure 1: Mechanical design of the robot (side view)

The size of a robot is limited to 7.5 x 7.5 x 7.5 cm. The robot's mechanical design (see figure 1 above). Due to the small   size,   the mechanical   design   is mainly determined by the choice of motors. They need to be powerful in order to accelerate the robot sufficiently fast while at the same time being small, energy-efficient and easy to control. Again due to size restrictions, stepper-motors are unsuitable.  That means   that   the   choice   is   limited   to   linear motors, which in turn means that a rotation sensor is needed.

 

Week 4

figure 1: Example block diagram

Discuss about the block diagram of the systems. The system in the block diagram we use a zigbee, micro-controller, forward reverse circuit for motor and the systems for kick the ball.

 figure 2: Zigbee specification

The 802.15.4 standard is used for wireless communication which occurs in 2.40 to 2.48 GHz band in 12 channels at 250 Kbps using an XBee chip. These modules send and receive data to the microcontroller using UART at a baud rate of 57600 bps.

 Figure 3: A block diagram of the robot’s hardware system.

Our main circuit boards use FPGA to local feedback control loop. A PI algorithm drives all motors with a suitable PWM signal. Each EC-45 motor has an encoder which generates the feedback signal with a maximum error rate of 1 degree on the wheel. The motors are driven using L6235 chip. 

week 3 (2 - 6 August 2010)

This week, I continues to do the report proposal which I do the Literature Review. For the literature review, I choose 2 example from: 1. A DSP-BASED SOCCER ROBOT FOR FIRA MIROSOT by Thomas Klute, Norman Weiss, Simon Schulz and Thomas Pfeifer from Computer Science I University of Dortmund, Germany presents a soccer robot for the FIRA MiroSot league based on a DSP design instead of the more common microcontroller design to provide more flexibility in the use of the robot    2. M. H. Ali, A. A. Shafie, M. F. Alias from International Islamic University Malaysia, P.O Box 10, 50278, Kuala Lumpur design Autonomous Soccer Robot Using Triple Infra-red Sensor for Ball Detection. From this example, our robot is similar with example 1. it because the design of robot to be small, compact, quick, strong, stable, with long-lasting power, and creative body components for ball-handling purposes.