Stair Climbing Planetary Robot

Transcription

1 ISSN Stair Climbing Planetary Robot #1 Vikash Kumar, #2 Aniket Yadav, #3 Rajkumar Gupta, #4 ohiuddin Khan 1 vk68622@gmail.com 2 anikyadav02@gmail.com 3 rajgupta807@gmail.com 4 mkhan240125@gmail.com #1234 echanical Engineering Department, SavitribaiPhulePune University, ISB& School Of Technology, Nande Village, Pune, aharashtra,india, ABSTRACT During rescue missions and urban searches sometime it become necessary to place sensors or cameras into dangerous and inaccessible areas to know the current situation of the personnel, before they enter a possibly dangerous area. Our robot is designed to cope with such situations. Our robot is quick, capable of traversing challenging and dangerous terrain. This paper presents the design and manufacturing of a remotecontrolled stair climbing planetary robot. Our robot is controlled by using microcontroller. The main aim to manufacture this robot is to lift a moderate load from any type of rough terrain and staircase. Keywords staircase, remote-controlled, robot, microcontroller ARTICLE INFO Article History Received: 28 th February 2016 Received in revised form : 1 st arch 2016 Accepted: 3 rd arch 2016 Published online : 5 th arch 2016 I. INTRODUCTION Today robots are increasingly being integrated into working tasks to replace humans. They are currently used in many fields of applications including office, military tasks, hospital operations, industrial automation, security systems, dangerous environment and agriculture. The robot which we have made is quite different in terms of design, looks, uses, and functions. We have made the robot whichcan able to cope with stairs, very rough terrains, and are able to move fast on flat ground. Not only on the stairs, can it also move with load over a flat or rocky surface. The robot is design to go into slightly destroyed areas to find and help rescue people. The benefits of rescue robots to these operations include reduced personnel requirements, reduced fatigue, and access to unreachable areas. The robot is built to discover areas where people cannot reach. The stair climbing can play an important role in those areas to lift loads over a short height, like libraries, hospital and in construction area. During the designing process the main focus was given to design its wheel, especially for the stair. Lifting recurring loads like books, food grains etc. to store upper level, or even patients to move upper level is not easy job, especially where there is no lifting facilities (elevator). oreover, in most of the buildings in the world does not have elevators or escalators. In this case human labours are considered to be the only solution. Labour is becoming costly in the developed countries, where growth rate is getting negative. This problem can be solved if a vehicle can lift loads while traveling through strains. II. LITERATURE REVIEW There has been made many climbing robots different kind for different application and field but still these robot have problems like some cannot run the rough or irregular surface, some can t climb the stairs, some cannot carry the large load and some robots cannot even take a turn. But the robots which we are making have accomplished all these needs. The idea of making this robot came after attending one seminar held at our college in which we discussed how to start the thinking of project. They told us to look for the problems which we human being face in any kind of situation and try to solve that problems by designing something that can tackle that problems. Initially we decided to make a wheel chair which can carry the person from upstairs to downstairs and from downstairs to upstairs by controlling the control unit like joysticks. But the 2015, IERJ All Rights Reserved Page 1

2 idea dropped. Then we decided to make a robot that can run not only on the flat surface but also on the rough and irregular surface with carrying some load. III. ETHODOLOGY We have made one robot which will reduce the effort of human being because this robot is capable of carrying the load from downstairs to upstairs and from upstairs to downstairs, can run on rough terrain, it can be controlled with remote and it can take a left right turn. We won't be the first to create this kind of robot, but ours will be one of the rare builds capable of climbing full sized stairs. The speciality of our robot is its wheel design that helps our robot to climb the staircase. The mechanism which we have used for the wheel is epicyclic gear train mechanism. Figure 1: wheel design.if either of the wheels in contact with the ground gets stuck,the whole system rotate so verthe obstruction. The list of target specifications which require din in design guideline are as follow: - Themaximum massof therobotis5kg. - Thetarget massof therobotisabout5-7kg - Therobot must beabletoclimb a stairs (10cmx15 cm) Figure 1: wheel design IV. PROJECT DESCRIPTION Thisprojectfocusedonthetriwheelrobotdesign.Thefocusesaremoreonthetriwheeldesignandthegearingdrivesystem. Themechanicaldesignhasbeendividedintothreesections,firstlyad esignforthetriwheelassembly,secondly,themainbodyoftherobotandthen,thede signoftheconnectionshaftbetweenthebodysections. DerivingtheTri- StarwheelparametersdependsonthepositionofTri- Starwheelonstairs.Itdependsontwoparameters,thedistancebet weentheedgeofwheelonlowerstairandthefaceofthenextstair(l 1),andthedistancebetweentheedgeofwheel ontopperstairand thefaceofnextstair (L2),asshown infigure 2:(2a) Bycomparingtheseparameters,threestat esmayoccur asfollow: 1.L1< L2 2.L1>L2 3.L1 = L2 Planetary wheel design For the rotation or movement of the tri-wheel epicyclic gearing or planetary gearing system is used which consist of sun gear which will rotate the idler gears connected to it at 120 degree apart from each other. The idler gear will rotate the planetary gear. Shaft of which will rotate the wheels. If the sun gear rotates clockwise then the wheels will also rotate in clockwise and vice-versa. In total 12 wheels is design to travel on the flat, upward or downward slopes with the delivery of a rotary power by a driving axle through a sun gear. Figure 2:(2a) TheTri-Star is a novel wheel design originally by Lock heed in 1967 in which three wheels are arranged in an upright triangle with two on the ground and on above the m,ass hownin 2015, IERJ All Rights Reserved Page 2

3 Figure 3:(2b) InthedesignofTri-wheel,five parameters are important which are the height of the stairs(a), width of stairs(b), radius of regular wheel(r), radius of Tri-Starwheel, the distance between the center of Tri-Starwheel and the center of tswheel(r) and the thickness of holders that fix the wheel onitsplaceontri-starwheel(2t), as showninfigure 3:(2b). Figure 4:a Accordingtotheprojectrequirements,thevalueofaand baredeterminedas: a= 10cm,b=15cm,r=6.3cm,and The minimumvalueoftheradiusofregularwheel(r min )topreventthec ollisionoftheholders tothestairsisderivedasfollowsfigure 4:a The ( ) ( ) ( ) ( ) ( ) ( ) maximumvalueradiusoftheradiusregular wheels(r max )topreventthecollisionofthewheelstogetherisfigur e 4:a Figure 5:b Furthermore,knowingtheamountsofrandR,wecanderivethemax imumheightofstairsthat therobot canpassthrough it,as follows(refer to Figure (a)&(b): Total Tri-wheel system = 4 For a single tri-wheel system: 1 central sun gear 2*3=6 middle gears 3= planetary gear And 1 wheel The angle between tri-wheel design = between each arm. Gear design 2015, IERJ All Rights Reserved Page 3

4 1. Central sun gear Outer dia. = 40 mm Number of teeth = 25 odule = 1.6 aterial = plastic polymer. Addendum = 0.8 mm. Width = 10 mm 2. Planet gear Outer dia. = 60 mm Number of teeth = 30 odule = 2 aterial = plastic polymer. Addendum = 1.2 mm. Width = 10 mm Frame 3. iddle gears Outer dia. = 40 mm Number of teeth = 25 odule = 1.6 aterial = plastic polymer. Addendum = 0.8 mm. Width = 10 mm 4. Wheel Wheel diameter = 70 mm Wheel material = plastic polymer Width = 15 mm Inner dia. = 10 mm Figure 7: frame design Then the aluminium sheet of dimension 400mm & 200mm is attached on the top of the frame to make a flat platform. 4 DC motor of output speed 300rpm is used as the power engine of the stair climbing robot. Power and wireless connections We have used 12 v 1.2 amp hour sealed lead acid battery; this was cheapest and easily available. Initially we had decided to use 24 v battery but the problem was the weight of the battery. It would increase the power of motors but doubled the weight of the vehicle. For this reason, we decided to use 12v battery as our final power source. It was light enough to be carried by the robot up and incline. The battery is attached on the chassis with the help of clamps. The motors are connected to the sun gear of the wheels; this will move the wheels forward and reverse. Figure 8: circuit diagram for motor connections shows the circuit diagram of the motor connection. The design of the robot started with the design of frame/ chassis. The frame is made up of U channel aluminium of width 2 cm= 20 mm and thickness of 2 mm. The rectangular dimensions of frame are 400mm*200 mm. The 8 mm hole circular 4 slots are provided on frame to mount the motor shaft and tri-wheel. SHI WIR WIR C Figure 8: circuit diagram for motor connections The RF module(transmitter and receiver) is used in order to make the system wireless.figure 9: Remote connections shows the circuit diagram. Figure 6:Schematic of frame design draft sheet 2015, IERJ All Rights Reserved Page 4

5 A sensor and steering wheel can be implemented to move around the stairs. Sensor would be a replace of a motor, which runs the frame wheel. A suspension system could be incorporated to minimize shock and vibration. Using a timer circuit, the movement would be more precise, accurate and easy to operate. With the help of timer circuits, the vehicle could run over a predetermined step size smoothly without using any switch. DPDT 1 DPDT 2 give the details of components used. Table 1: prototype wheel of material Figure 9: Remote connections Following Table 1: prototype wheel of material Sr. no. Parts Quantity Specifications 1 otor 4 12V dc gear motor 300rpm 2 Battery 1 12v 1.2 A lithium battery 3 Chassis 1 sheet Aluminium sheet 420mm*102mm 4 Upper 12 Dia-70mm wheels 5 gears 16 Pcd=40mm 6 RF 1 433mhz ODULE 7 icrocontr oller 8 Wheel frame 4 Star frame of 75mm*75mm aluminium sheet V. FUTURE SCOPE This mechanism can be further modified and used in various other applications. It can be useful in carrying heavy baggage or load and thus reducing human effort. Another common situation that employs the use of this mechanism in the case of urban disasters or hostage situations wherein these robots are designed to rescue workers. The benefits of rescue robots to these operations include personal requirements; reduce fatigue as well as access to unreachable areas. These robots have ability to move over the irregular terrain of collapsed or destroyed buildings. On the robot a camera can be placed to take videos of the affected areas which can further help in rescuing operations. VI. CONCLUSION In this paper we have suggested that the development of innovative product of stair climbing transporter. Henceit can be concluded that the mechanism works properly and can be used fortraversing stairs and obstacles and passing over any uneven terrain. The goal of this project was to design and prototype a low cost robot for first response reconnaissance in structurally unsound or collapsed buildings and hazardous materials situations.though this project had some limitation as a first step of making any Stair Climbing Vehicle, it was a pioneer project. Thoughthe initial cost of the project seemed to be higher but more accurate manufacturing would shorten this cost. ACKNOWLEDGEENT This project consumed huge amount of work, research and dedication. This research paper is made possible through the help and support from many individuals and organizations.we would like to thank Prof. C.S.Khemkar for his most support and encouragement. We are also thankful to those persons who helped them while doing this project. REFRENCES [1].Aracil R., R. S. (2000). Kinematic control for navigation of mobile parallel robots applied to large structures. 17th IAARC/CIB/IEEE/IFAC/IFR International Symposium on Automation and Robotics (pp ). london: IAARC. [2].Dalvand.,.. (2003). Design and modeling of a stair climber smart. 11th International Conference on Advanced Robotics (pp ). Portugal: ICAR. [3].F., G. F. (2008). Safety, Security and Rescue Robotics, SSRR IEEE International Workshop on. DFKI Bremen (German Res. Center For Artificial Intell.) Robot. Group, Bremen (pp ). Sendai: IEEE. [4].T. Ishimatsu, K. S. (1999). Development of a stairclimbing machine in Nagasaki. Proc. 3rd International workshop of Advanced echatronics, [5].ourikis, A. T. (2007). Autonomous Stair Climbing for Tracked Vehicles. International Journal of Computer Vision 2015, IERJ All Rights Reserved Page 5

6 &International Journal of Robotics Research - Joint Special Issue on Vision and Robotics, [6].Schilling, K., Jungius, C., obile Robots for Planetary Exploration, Control Engineering Practice, Vol. 4, No. 4. [7].Burdick, J.W., Radford, J., and Chirikjian, G.S., 1993, A Sidewinding Locomotion Gait for Hyper Redundant Robots, Proc. IEEE International Conference on Robotics and Automation [8].Helmick, D., Roumeliotis, S., chenry,., atthies, L., 2002, ulti-sensor, high speed autonomous stair climbing, IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), September. [9].ourikis, A.I., Trawny, N., Roumeliotis, S.I., Helmick, D.., and atthies, L., 2007, Autonomous Stair Climbing for Tracked Vehicles, International Journal of Computer Vision & International Journal of Robotics Research - Joint Special Issue on Vision and Robotics, 26(7), [10].Siegwart, R., Lauria,., äusli, P., Winnendael,., 1998, Design and Implementation of an Innovative icro- Rover, Proceedings of Robotics 98, the 3rd Conference and Exposition on Robotics in Challenging Environments, April 26-30, Albuquerque, New exico. 2015, IERJ All Rights Reserved Page 6