project objectives
The size of the robot is limited so it can be lifted/carried by one person. The dimensions of the device are limited to 0.6 m x 0.6 m x 0.6 m. The robot must be autonomous within the constraints of the project and controlled by the Arduino board. The device is not permitted to pass over the boundaries.
Team:
Mechanical Design
Mechanical Design
Vision Processing Design
Software Design
Introduction & Project Description:
A LEGO man is located on one side of a vertical wall and must be relocated to the mirroring platform on the other side. The robot must be able to scale the other side of the 1-meter in height wall by using the 45 degrees ramp. This robot contains 4 motors for thrust and various type of wheels for traction.
Design & solution
Retrieval Chamber: This is a functioning device to retrieve the LEGO man consisting of mechanical assembly, electronics, and functional software. The retrieval chamber is a crucial component of the robot because retrieving the LEGO man one of the main objectives. In order to close off the front face of this chamber, a moving door has been incorporated. This door is driven by a micro servo motor that is connected to a larger gear that drives 2 other identical smaller gears.
Raspberry Pi & Camera: The Raspberry Pi camera is attached to an adjustable arm which is extruded from the center of the vehicle. The Raspberry Pi receives navigation information from the camera and sends it to the Arduino board which actuates the motor through a pulse width modulated [PWM] signal.
Custom PCB: The PCB contains a chip that ultimately replaces the Arduino board, thus reduces weight and increase space.
Motor Controller Board: The motor controller board works as an independent power source which controls the speed of the 4 DC motors for the robot.
functionality
The retrieval chamber is designed to 'scoop' the LEGO figure into the container. As the micro-servo motor turns from 0 degrees to 360 degrees the gate will execute the routine shown in the diagram sequence.
prototyping & testing
A total of 43 parts were handmade and assembled precisely to balance the robot.
