INTELLIGENCE FOOD DISTRIBUTOR ROBOT FOR MEETING AND CONFERENCE PURPOSE

Thursday, October 29, 2009

EQUIPMENT USED:

1. Acrylic Fibre board.
2. Bolts, washer, fasteners and screws.
3. 1 SET motor.
4. Aluminium parts.
5. Electronics components: Resistors, Capacitors and push button switches,IR
6. PIC programmer.
7. Cutting tools: Grinder, Bench drill.
8. Soldering tools.
9. 6V Battery Pack.


LIST OF METRICS:




FIGURE CONCEPT






PICTURES OF DEVELOPMENT STAGE












PRESENTATION PHOTOS




PROJECT CODING FOR PIC CONTROLLER


i) MOTOR


main(){
TRISB = 0;
TRISD = 0;
portd=0;
portb=0;
portd.f1 = 1;
portd.f0 = 1;
while(1){
portd.f1= 1;
if(portd.f1 == 0)
{
while(1){
PORTB.F4 = 0;
PORTB.F3 =1;
PORTB.F6 = 0;
PORTB.F7 = 1;
Delay_ms(200);
if(portd.f0 == 0)
{
PORTB.F4 = 0;
PORTB.F3 =0;
PORTB.F6 =0;
PORTB.F7 = 0;
Delay_ms(6000);
portd.f0= 1;
PORTB.F4 = 0;
PORTB.F3 =1;
PORTB.F6 = 0;
PORTB.F7 = 1;
Delay_ms(200);

}
}
}
}
}


ii) LDR


int temp_res;
main(){
ADCON1 =0; //analog
TRISA =255 ;
TRISD = 0;
portd=0;
while(1){
portd.f2 = 1;
Delay_ms (1000);
temp_res = Adc_Read(3);
portd.f2 = 0;
Delay_ms(2000); //
if(temp_res>=20&&temp_res<=200)

{ portd.f3 = 1; Delay_ms (2000);

portd.f3 = 0; Delay_ms(100);

}

}

}



DISCUSSION

Since the last 3 months ago, we have mission to produce a functional autonomous robot for serving water or food during either meeting or convention session for our Mechatronics System Design. For that reason, we have equipped the robot with intelligence system and embedded with flexible function during its operation.

Since we have limited budget and equipments, most of the materials that are used for this project from recycle materials that can be found in MSD lab, Robocon lab and Mechatronics workshop. The design of prototype needs lots of modification compared to the alternatives design that we have chosen before due to the problem that we faced to find the exact materials for this prototype concept. Thus, from that, our finalized budget for this project less than RM 50 because many materials are from recycle things. The final prototype design as shown below.


PROTOTYPE PRODUCT

By the way, due to the load is quite heavy because of a box we put onto the base car, make the motor cannot run very well since the torque is quite small rather than the load. The motor torque and speed cannot bear the force from the heavy load of the box, causes it sometime stuck during running.

However, we have successful created the food container which the foods or beverages will be brought by robot and the customer just push the button to make it throw out the food from the box. The box is created by plank and we design it well in order the food can go out from container easily.

The single slotted track we have created it from aluminium element because of easy to figure it as same as the shape we want to create such as for corner side (round shape). So, the tyres of the robot run and follow very well in the slotted track. It can rotate the table smoothly by following the track depend on suitable speed that mean not much faster or too slow.



CONCLUSION


Our objective of this experiment has been achieved although it doesn’t function well during presentation. Based on our knowledge learned in the Mechatronics degree programme, our ideas to improve the project is always in our mind. This project is an introduction to the world of robot that aids our daily life. Hence, with this robot there is safety for confidential meeting and also it can save companies money from using in unnecessary things.

REFERENCE


Mahalik N. P, (2004), Mechatronics: Principles, concepts and application. McGraw-Hill.

Dieter, G.E (2000). Engineering Design, (3rd ed.), McGraw-Hill.

Ulrich K.T. & Eppinger S.D., (2003). Product Design and Development, (3rd ed.), McGraw Hill.

artificial hand-development (final stage)

Sunday, October 18, 2009
THIS IS OUR FINISHED PROTOTYPE WHICH PERFORM VERY WELL DURING HANDLING THE GLASS.. SIMPLE DESIGN BUT PRACTICAL..



artifial hand- development (stage 2)

Monday, October 12, 2009
WE ARE DESIGN THE PROTOTYPE DURING SECOND STAGE..MAKE A CIRCUIT, MECHANICAL PART,GRIPPER ETC..











artificial-development (initial stage)

Monday, October 5, 2009

CAD DESIGN






PROJECT DEVELOPMENT-WEEK 6

Tuesday, September 8, 2009
Click the figure for enlarging the images..


Figure 1: New time table



Figure 2: Food distributor subfuction



Figure 3: mechanical movement subfunction



Figure 4:food handling & distributing subfunctions



Figure 5: sensor feedback& client request medium subfunctions



Figure 6:track subfunction

Summary:


The best alternative for each subfunction are:
1.mechanical movement subfunction :4 wheel (motor)
2.food handling & distributing subfunctions: tube & tray/slide
3.sensor feedback& client request medium subfunctions : Button (Bulb)
4.track subfunction: single slotted


FAILURE EXPECTATION

1.Sensor
We using IR & LDR sensor. We maybe face with the sensor problem because the data transfer for this sensor as analog signal. That easily gets disturbance and noise from the environment.

2.Track
Because the tyre follows the track, maybe friction will effect to the motion moreover when the tire moving in inline condition. The moving maybe stuck during moving.

3.Motor
We are using cheap motor. We concern about the speed and torque will be affected by the load on the body of robot. That will affect the smooth motion of moving.

4.Interfacing Between Hardware And Software Algorithm.
The software is not compactable with the hardware. Need some modification for interfacing them.


The improvement stage will be done later..

PROJECT DEVELOPMENT WEEK 5

Monday, September 7, 2009
Below are some design for our prototype..We have list 7 of them here..

Alternative 1:conveyor

Alternative 2: Arm mechanism


Alternative 3: Rotation tray

Alternative 4:button and ejector

Alternative 5: Tube & tray/slide

Alternative 6: pulley & box

Alternative 7: Mini deliver robot

Conclusion:
From these 7 alternative prototype ,we entirely have choosen Alternative 5: Tube & tray/slide as our primary design hitherto refer to pugh diagram..

Possible circuit:

There are two ways of constructing the voltage divider,with the LDR at the top,or with the LDR at the bottom



Below is the circuit for IR sensor


The basic design of the infrared proximity sensor


PROJECT DEVELOPMENT-WEEK 3 & 4

Wednesday, August 19, 2009
Since we are in the week 3, we have to develop the model. We decide to advent the intelligent food distributor robot using the track like in the diagram below rather than using line following that we have decided before because of some modification in our design. So,the project still in under progress.


TRACK SUBFUNCTION


click for enlarging the image


TRACK CONFIGURATION



CONCEPT ALTERNATIVES





SKETCHED PROTOTYPE


Alternative 1
Alternative 2

Alternative 3