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Wireless Arthrobot

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PROJECT BY

Names Exam No.

Rahul Pawar B3233130

Akshay Purandare B3233134

Avinash Raskar B3233137

Guided By-

Prof. V.V.Dixit.

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AIM OF THE PROJECT

1.To Build a remote controlled Six legged Robot to acquire status of Physical Quantities at remote places and to keep updating control room about the same.

2. By doing this we can get information about different physical parameters from the places where human can’t go & work.

3. In the era of robotics, this can be very helpful.

In this way robotics can work as relief to human being.

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WHY ROBOTICS?

The World Is Moving Towards Automation In Every Field.

The Best Option For Replacing Human At Hazardous Jobs.

A Reliable Medium To Complete Work With Accurate Results.

Work Done By Robots Is Always Under Control And Very Precise.

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WHAT A ROBOT CAN MEAN?

An Industrial Automatic Machine Replacing The Human In Hazardous Work.

An Automatic Mobile Sweeper Machine For Domestic Use.

An Automatic Toy Car For A Child To Play With.

A Machine Removing Mines At War Field All By Itself And Many More…...

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A ROBOT

Robots have 3 main components: Brain - usually a computer. Actuators and mechanical parts - motors,

pistons, grippers, wheels, gears. Sensors - vision, sound, temperature, motion, light,

touch, etc.

These three components will make a robot to interact and affect their environment to become useful.

A robotic system can perform a single or multiple tasks.

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TASKS TO BE PERFORMED

Acquire the physical quantities from specific sensors from remote places.

Transmit information about physical quantities to control room.

Transmit images from robot to TV station.

Control the robot by means of wireless remote.

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BLOCK DIAGRAM

Transmitter(Remote)

AT89S52KEYBOARD RF

Transmitter

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BLOCK DIAGRAM(CONT.)

Receiver( Robot)

PIC16F87XA

Wireless Camera

Temperature Sensor

RF Receiver

ServoMotor 1

ServoMotor 2

ServoMotor3

RFTransmitter

Amplifier

AmplifierHumiditySensor

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BLOCK DIAGRAM(CONT.)

Control Room

TVReceiver TV

RFReceiver

LCDDisplay

PIC16F87XA

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RESOURCES SELECTED

Microcontroller - PIC16F87XA and AT89S52.

RF Transmitter & Receiver kit. Amplifier-LF356. Signal Transmission Medium - RF signals. Wireless Camera. Servo Motors- Hi-tech HS-311. Sensors- LM35,HIH-3610. LCD Display-7106.

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ALGORITHM OF REMOTE

1. Start.

2. Key is pressed by the user for either turning right , left or to go straight.

3. The equivalent output is given to the microcontroller.

4. According to the software written microcontroller generates control signals which are the inputs for RF transmitter module.

5. RF transmitter will transmit the RF signal generated for the receiver to receive.

6. Remote control follows steps 3,4,and 5 when any

is pressed.

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CONTROL FLOW OF REMOTE

KEYBOARDPIC

16F87XA

RFTRANSMITTER

Equivalent analog input of key pressed Control

signal RF Signal

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FEATURES OF RESOURCES USED IN REMOTE

Microcontroller AT89S52: 8Kb of In system programmable flash memory. Endurance:1000 write/erase cycles. 4.0 v to 5.5 v operating range. 256 bytes internal RAM. 32 programmable I/O lines. Fully static operation: 0 Hz to 33MHz. Three 16-bit Timer/Counters. Eight Interrupt Sources. Low-power Idle and Power-down Modes.

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FEATURES OF RESOURCES USED IN REMOTE

RF signals 433MHz 2.4 GHz• Range free field : max.100m

max.100• Range through floors and walls : 10 - 20m 15 -30

m • Capacity : max. 10mW max.

10mW• Frequency : 433.92MHz 2.4GHz

Application: To transmit signals through floors and walls.

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FEATURES OF RESOURCES USED IN REMOTE

Specifications of RF Transmitter Module

•Operating Voltage 3V to 12 V•Operating Current. Max: 400mA for 12 V supply Min: 9mA for 3V supply.•Frequency-433MHz.•Transfer Rate-10Kbps.•Antenna Length-18cm.

Fig: RF Transmitter module (433Mhz)

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ALGORITHM OF ROBOT MOVEMENTS

1. Start.2. Receive control signals(RF signals) from air.3. RF receiver will generate signals

accordingly.4. PIC microcontroller will accept those signals

and will generate control signals.5. These control signals are responsible for the

movement of servo motors resulting in robot movements.

6. Steps 2 to 5 are followed once receiver receives any signal.

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CONTROL FLOW OF ROBOT MOVEMENTS

PIC16F87XARF

Receiver

ServoMotor 1

ServoMotor 2

ServoMotor3

RF signal fromTransmitter

Control signal

Control signals to drive servomotors

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FEATURES OF RESOURCES USED FOR ROBOTIC MOVEMENTS

Specifications of RF Receiver Module

•Operating Voltage 5.0V ± 0.5V•Operating Current ≤5.5mA for 5.0V supply.•Frequency -433MHz.•Transfer Rate- 10Kbps.•Antenna Length- 18cm.

Fig: RF Receiver module(433Mhz)

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FEATURES OF RESOURCES USED FOR ROBOTIC MOVEMENTS

Microcontroller PIC 16F87XA 100,000 erase/write cycle Enhanced Flash

program memory typical. 1,000,000 erase/write cycle Data EEPROM

memory typical. Self-reprogrammable under software control. In-Circuit Serial Programming™ (ICSP™) via two pins. Single-supply 5V In-Circuit Serial Programming. In built ADC (10 bit, up to 8 channels). Power saving Sleep mode. Selectable oscillator options.

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FEATURES OF RESOURCES USED FOR ROBOTIC MOVEMENTS

Servo Motors It is a device which has a positionable

shaft. Position of this shaft can be changed

according to the signal given to it. Servos are powerful and consume less

energy. Uses PWM signals for the movement.

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FEATURES OF RESOURCES USED FOR ROBOTIC MOVEMENTS

Servo Motor Controller HS-311

o Control System: +Pulse Width Control 1500usec Neutral.

o Required Pulse: 3-5 Volt Peak to Peak Square Wave.

o Operating Voltage: 4.8-6.0 Volts.o Operating Temperature Range: -20 to +60 °C. o Operating Speed (4.8V): 0.19sec/60° at no load.o Operating Speed (6.0V): 0.15sec/60° at no load. 

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FEATURES OF RESOURCES USED FOR ROBOTIC MOVEMENTS

Servo Motor Controller HS-311(contd.)o Stall Torque (4.8V): 42 oz/in (3.0 kg/cm).o Stall Torque (6.0V): 49 oz/in (4.5 kg/cm).o Operating Angle: 45° one side pulse

traveling 450usec.o Direction: Multi-directional.o Motor Type: Cored Metal Brush.o 360 Modifiable: Yes.o Weight: 1.52oz (43g).

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ALGORITHM FOR DATA ACQUISITION SYSTEM

1. Start.2. Sensors of the respective physical

quantities senses the quantities and generates equivalent voltage.

3. Equivalent low voltage is given to the amplifier stage.

4. Amplified signal is given to the ADC of PIC microcontroller.

5. Calibrated signal generated by PIC is given to the RF transmitter.

6. RF transmitter will transmit the signal to control room.

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CONTROL FLOW OF DATA ACQUISITION SYSTEM

PIC16F87XA

Temperature Sensor RF

Transmitter

Amplifier

AmplifierHumiditySensor

Low voltageSensor output

Amplified Signal

Calibrated signal

RF Signal

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FEATURES OF RESOURCES USED FOR DATA ACQUISITION SYSTEM

SensorsTemperature Sensor LM35 • + 10.0 mV/°C scale factor.•0.5°C accuracy. •−55° to +150°C range.•Suitable for remote applications.•Low cost.•Operates from 4 to 30 volts.

Fig: LM35

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FEATURES OF RESOURCES USED FOR DATA ACQUISITION SYSTEM Humidity Sensor HIH 3610

•Molded thermoset plastic housing with cover.• Linear voltage output vs%RH• Laser trimmed interchangeability• Low power design• High accuracy• Fast response time• Stable, low drift performance• Chemically resistant

Fig: HIH 3610Humidity sensor

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FEATURES OF RESOURCES USED FOR DATA ACQUISITION SYSTEM

Amplifier LF356•High input impedance.•High speed operation up to20Mhz,50v/ms•Large differential voltage capability.•High bandwidth.•Internal compensation.•Can work with only one power supply.

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CONTROL ROOM WORK FLOW

1. Start.2. Continuous reception of images from

wireless camera transmitter is done by TV receiver.

3. RF receiver module will receive information about the physical quantities.

4. It will pass the signal to PIC microcontroller.5. LCD which is interfaced with PIC will display

the result.6. Steps 3 to 5 are repeated till receiver

receives signals.

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APPLICATIONS

Monitoring the remote system by means of wireless camera.

Can be used as industrial robot to monitor any part of a big system.

For home automation also it can be used.

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FUTURE SCOPE

By adding some features we can get a robot working in different conditions.

Also the robot can be made autonomous if required.

Can take place of human beings in future. Advanced communication system will make

the system more real time. In industries for pick and place also this robot

can be handy by adding Arm and control structure for it.

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ROBOT MAY LOOK LIKE:

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THANK YOU!