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The omnidirectional writobot

Muhamad Nabil Bin Mansor850622 075113AE 040230

Supervisor : DR rosbi bin MAMAT

introduction

Omnidirectional WritobotOmnidirectional means transmitting in all directions.A robot that can move into any direction while leaving its trail on the surface to become a writing effect.The robot can write in a large size of character as it is a mobile robot.

Objective

To design and construct an omnidirectional vehicle prototype.

To make vehicle moving and writing.

To enable navigation control of the robot.

Scope of project

Design of omnidirectional vehiclesDesign and build the mechanical structureElectronic circuit fabricationDeveloping the program for the robot to write

Problem statement

Hard to make a large character using marker pen manually (by human hand). To point at certain coordinates in a large area accurately needs bigger tools to execute the task.

Literature Review

Calligraphy robot

Driven by DC motor Able to write Chinese Characters using a brushBy Shoichiro Fujisawa, Keiji Ohkubo, Takeo Yoshida,Naoki Satonaka, Yasunari Shidama, and Hiroo Yamaura.Shinshu University, Japan.

Literature Review

MULTI DIRECTIONAL MECANUM ROBOT

An autonomous mobile robot using four custom-made mecanum wheels Provide multi directional movement without needing a conventional steering system Controlled by a microcontroller typePIC16F877A

By Mohd Solehin Bin ShamsudinBachelor of Electrical Engineering (Mechatronics) UNIVERSITI TEKNOLOGI MALAYSIA, May 2007.

Electronic block diagram

PIC 18F452

Servo motor 2Servo motor 1

DC motor

Stepper motor 2

Servo motor 3

Stepper motor 1

Stepper motor 3

Methodology

Outsource the electronic / mechanical

components and build the robot

Concept and idea

Literature Review

Research on Electronic Part and Mechanical Design

Mechanical Design

Electronic DesignSoftware

development and

programmingTesting, simulating and

troubleshooting the robot

Final Result

Design Layout

Top view Perspective view

Side view

Early Design

Design Layout

Top view

Final Design

Design Layout

Final Design

Side view

Design Layout

Final Design

Front view

Design Layout

Final Design

Perspective view

ROBOT MOVEMENT

ROBOT MOVEMENT

Robot Mechanical part

Body made from perspex and

aluminumRobot arm made from welded steel

Wheel from remote control aircraft

wheelMarker pen up and down mechanism made from custom CD-ROM

body

Robot Electrical part

Microcontroller PIC18F452Motor Driver

L293D to change DC motor

directionStepper Motor Circuit 4050N (hex buffer)

TIP120 (Darlington transistor) to control stepper motor by giving the right

high-low sequenceStepper Motor Minebea 17PM - K508 –

G1ST

Robot Electrical part

Battery RB640B (6V) Maxwell Super (9V)

Servo Motor

Cytron C40S

Software involved

Rhinoceros 4.0 to design the mechanical

structureMPLAB IDE v7.43 to build the program for the

robot

WinPic800 to insert the program into the robot microcontroller

ISIS 6 Professional to simulate the program

WRITOBOT

Top view

Perspective view Side view

Writobot Circuit

WRITOBOT

Marker pen up/down mechanism

wheel

wheel

Result

The design of the robot enable this robot to achieve omnidirection movementThe robot able to make a smooth movement on the floor surfaceThe design of the robot tire enable the robot to twist the wheel on a paper surface smoothly without leaving the tire mark The robot able to point at some X–Y coordinates

Result

The robot is able to write the alphabets which do not have curves

The robot is able to write the alphabets with no limit size of font

FUTURE RECOMMENDATIONS

The robot is unable to write the alphabets which have curves. This is due to the robot wheel that is not very coaxial and it hard to make the servo motor and stepper motor synchronizeThe robot have no sensor which make it unintelligent. It is suggested to put some sensor on the robot to make it writing more efficient in the future.The robot will only write what it is pre-program to write. In the future it is hope that this robot can interface with computer via Bluetooth to write or plot something.

CONCLUSION

The success of this project proves that the design of the robot make the robot capable of moving in omnidirectionThe robot able to point at some X–Y coordinates The robot can write on the plain surface

References

The Shoichiro Fujisawa, Keiji Ohkubo, Takeo Yoshida,Naoki Satonaka, Yasunari Shidama, and Hiroo Yamaura(1997). Improved Moving Properties of An Omnidirectional Vehicle Using Stepping Motor. Proceedings of the 36th Conference on Decision & Control. December 1997. San Diego, California USA, 3654.Mohd Solehin Bin Shamsudin(2007). Multi Directional Mecanum Robot. Bachelor of Electrical Engineering (Mechatronics), Universiti Teknologi Malaysia, Skudai.Riichiro DAMOTO, Wendy CHENG and Shigeo HIROSE(2001). Holonomic Omni-Directional Vehicle with New Omni-Wheel. Proceedings of the 2001 IEEE International Conference on Robotics & Automation. May 21-26, 2001,Seoul, Korea, 773. http://www.imagesco.comhttp://www.cytron.com.my

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