worm robot project italy ridotto - descrittiva · - industrial: to create a robot using industrial...

Worm Robot Project Xplore New Automation Award 2008

XPLORE New Automation Award 2008 http://www.xplore.org PHOENIX CONTACT http://www.phoenixcontact.it/

Headquarter: Polo tecnologico ITIS Augusto Righi IPSIA Oreste Mozzali via per Caravaggio 52. City: Treviglio (BG) Italy Contacts: Telephone 0363 48721 Fax: 0363 303167 E-mail: [email protected] Heads of the project: Prof. Donato Mazzei, teacher of industrial automation systems ([email protected]) Prof. Raffaele Nocerino, teacher of technlologies, design and planning [email protected]

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WORK TEAM

Project Manager, mechanical engineering: prof. Donato Mazzei [email protected] Automation engineering: prof. Raffaele Nocerino [email protected] Comunication Team: prof.ssa Benedetti Isabella [email protected] [from Treviglio - Italy] prof.ssa Giannini Linda [email protected] [from Latina - Italy] prof.ssa Lorenzi Carla [email protected] [from Treviglio - Italy] Network di Robotica Robot@Scuola http://www.scuoladirobotica.it/retemiur - prof Giovanni Corbelli ITIS "Alessandro Volta" Sassuolo (MO) , Italy - prof.ssa Linda Giannini Scuola dell’Infanzia Istituto Comprensivo”Don Milani” Latina, Italy - prof Raffaele Gotti ITIS "Alessandro Volta" Sassuolo (MO) , Italy - prof.ssa Donatella Merlo Donatella Merlo MCE Movimento di Cooperazione Educativa Italy - prof. Carlo Nati Supervisore SSIS Universita’ del Lazio – Italy - prof Giampietro Tocci ITIS "Alessandro Volta" Sassuolo (MO) , Italy - prof. Bruno Vello IPSIA”Gaslini” (GE) Italy Blog Rob&ide: http://blog.edidablog.it/blogs//index.php?blog=275 Team Scuola di Robotica Genova: http://www.scuoladirobotica.it - Presidente di Scuola di Robotica di Genova, Italy: prof. Gianmarco Veruggio, ricercatore CNR; - Vice-Presidente di Scuola di Robotica di Genova, Italy: dott.ssa Fiorella Operto; - ricercatore Scuola di Robotica di Genova, Italy: dott. Paolo Bianchetti; - ricercatore Scuola di Robotica di Genova, Italy: dott. Emanuele Micheli. - Students of Class dell’indirizzo meccanico, elettrotecnico Polo tecnologico ITIS ”A.Righi”: - Studenti classe V, IV e III meccanica; - Studenti classi V, IV e III elettrotecnica - Studenti delle Scuole appartenenti al Network Robot@scuola e al Team Rob&ide, dalla scuola

dell’infanzia alle secondarie di secondo grado di Genova [Liguria] - Latina [Lazio] – Pinerolo [Piemonte] – Treviglio [Lombardia]




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Title “WORM ROBOT“

The Technological Pole ITIS Augusto Righi IPSIA Oreste Mozzali has already take part in a previous edition (Xplore 2005) of your contest with the project “Climbing Robot”: Now, we present to the Xplore’s 2008 jury a brand new idea named “Worm Robot”. The awesome experience of the 2005 contest inspired and motivated us, so we created a team of teachers and students that works permanently on the robotic, with the following objectives: - Technological and didactic researches to know new robotic technologies - To Share and expand experiences with others institutions - To Compete in national and international contests. The purpose of the project was the imagination, the design, construction and control of a biomimetic robot. The machine is able to move inside of pipelines ducts of various shapes and diameter. The idea for the project originated from the movement of worms and snakes and, of course, from a view to the fair in Hannover in April 2005, during the award ceremony for the project Climbing Robot Free Climber.




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The Worm robot project has two purposes:

- Educational: To project, to design and to build robots that are similar to real animals - Industrial: To create a robot using industrial technologies

The robot introduced to your jury can move inside pipes of various size, shapes and diameters. We started to think about this “worm robot” observing the behavior of reptiles and anellids; sharing our results inside the Robot@school network (provided by University of Genova). The robot’s main function should be the inspection of pipelines either industrial or civil ones: - The robot is used for the inspection of industrial and civil pipelines. The mechanical structure of the robot

has five degrees of freedom, symmetrically arranged on the structure controlled by the PLC. - The robot is able to trace the vertical straight of curvilinear pipeline. The movements take place on radial

and longitudinal plans of the pipeline. - The longitudinal movements are controlled by a dual effect pneumatic cylinder with a stroke of 40 mm.. - The robot will operate not completely Wireless. - The robot is used for the inspection of industrial and civil pipelines. The mechanical structure of the robot

has five degrees of freedom, symmetrically arranged on the structure controlled by the PLC. - The robot is able to trace the vertical straight of curvilinear pipeline. The movements take place on radial

and longitudinal plans of the pipeline. The longitudinal movements are controlled by a dual effect pneumatic cylinder with a race/stroke of 40 mm. The movement on the radial plane is achieved through muscle tires that contract with compressed air and stretch with the power of a group of springs working in compression.




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The compressed air alimentation ( 3 bar) is provided by a pneumatic micro pump. The suction cups are connected to a micropump that creates a vacuum to suction. The diameter of those suction cups is 35 mm. The signal of control I/O ( input/output) is collected and transmitted by and I/O wireless module placed on the machine. The PLC, the engine and the control panel will be disposed in a separated box. The another wireless module, the PLC and electric power supply, is mounted on the electrical panel placed to ground). The user interface will consist of those commands:

- START (starts the engine) - STOP (block the robot) - RESET - UP - DOWN - EMERGENCY button

The robot will integrate a Webcam to simulate the inspecting function. - The robots will be linked only to a cable supplying electricity to 24 volt and a webcams be provided to

simulate the inspection function. -

Technical Data WORM ROBOT

Data

quantity

Mass Kg 3 Kg Length max mm 450 mm Width max ( muscoli contratti mm 240 mm width (muscoli estesi) mm 270 mm 8 Suction cups: Diameter mm 35 8 CYLINDER Diameter stroke

mm mm

20 40

1

Reed sensor’s proximity 2 Pressostati ( sensori per il vuoto) 4 Vacuum micropump 1 microcompressore 1 valves and Solenoid valves 1 Solenoide valves 1 Cable carrier system Length diameter

mm mm

200 40

1

PLC Phoenix 1 Modulo I/O wireless 1 Springs mechanical 32




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As Attach images of the 3D design of the mechanical structure robot

Pneumatic worm robot

Another solution that as been studied provides to use an electric motor that fuels an elical motion transmitted to device wheels that adhere to friction, the wall of the pipeline. This application has not yet been implemented.




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Electric worm robot

The Team that carried out the project and shared experience consists of a group of students of 3° (17 years ) 4° (18 years) and 5° (19 years ) class of technical and industrial institute electrician and mechanical specialization and industrial laboratory automation of the same institute. The Technological Pole ITIS Augusto Righi IPSIA Oreste Mozzali involved in this project a group of students from various classes: - Third Grade: 17 years old - Fourth Grade: 18 years old - Fifth Grade: 19 years old And Teachers from different subjects: - Industrial automation - Mechanical technology - Mechanical Design - English We received technological support (free supplì of components, upgrade corse, technical advice) from the following companies.

- Phoenix Contact spa (PLCs, cables..) - Autodesk srl (Design Softwares) - Pneumax spa (cylinders) - PIAB s.rl. (suction cups) - IGUS srl - Fumagalli Springs

Technologies used:

- PLC, Power supplies, Relays, control software, sensor and actuator cabling : Phoenix Contact srl Germany http://www.phoenixcontact.com/

- Air muscle Shadow Robot Company England http://www.shadowrobot.com/ - Spherical bearings, plastic bearings, cable carrier system, IGUS s.r.l. Germany

http://www.igus.com/ - suctions cups): PIAB srl SVEZIA http://www.piab.com/ - CYLINDERS ,valves and Solenoid valves Pneumax spa ItalyM http://www.pneumaxspa.com/ - Mechanical springs Fumagalli Molle Srl Italy http://www.mollefumagalli.it/ita/start.html - Pessina s.r.l. Fara d’Adda Italy - Software CAD 3d Inventor 2008 Autodesk srl. USA www.autodesk.com - micro pumps SCHARZER GERMANY www.schwarzer.com




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Components




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SHARING PROJECT The project has been shared with a network of schools of all levels belonging to the robotic’s network. About forty different schools of ordered school ( kindergarten, age 3-6, primary school, age 6-11, secondary school first grade age 12-13, secondary school. Age 14-19, university and robotic’s association. Inside our network, different schools of various grades, shared experiences and studies:

- Primary School (6 to 11 years old) - Middle School (11 to 13 years old) - High School (14 to 18 years old)

kindergarten School Latina Italy , age 3-6 http://blog.edidablog.it/blogs//index.php?blog=275&m=20080116 primary school, age 6-11, Latina Italy http://blog.edidablog.it/blogs//index.php?blog=275&m=20080121 http://blog.edidablog.it/blogs//index.php?blog=275&m=20080115 http://blog.edidablog.it/blogs//index.php?blog=275&m=20080120

- Primary School (6 to 11 years old) Pinerolo (Torino) http://trilussa.primocircolopinerolo.it/egw/wiki/index.php?page=SassuoloOnLine http://trilussa.primocircolopinerolo.it/egw/wiki/index.php?page=WormRobot http://trilussa.primocircolopinerolo.it/egw/wiki/index.php?page=RobotRobot

- Middle School (11 to 13 years old) Sassuolo Italy http://blog.edidablog.it/blogs//index.php?blog=275&m=20080111

Sassuolo: il lavoro è stato ideato creato e svolto da tre allievi 15-16 classe seconde ITIS con i due docenti della classe 2C prof Corbelli Giovanni prof Gotti Raffaele Poi e’ stato raccolto ed inviato dal referente Istituto per la scuola di robotica prof Tocci Giampietro che ha tenuto i contatti




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- High School (14 to 18 years old) Latina Italy

http://blog.edidablog.it/blogs//index.php?blog=275&m=20080112

Worm robots experience Kindergarten School in Latina - Italy (3-4 years old)




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Worm robots experience Primary School in Latina- Italy (8 years old)

The different experiences and robotic’s studies on the movement of worm robot were published ( in Italian but with many images) on the blog Rob&ide ( History Robot and Androide). Blog Rob&ide [ January 2008 ]http:blog.edidablog.it/blogs//index.php?blog=275&m=200801 Why choose our project? Our project provides a significant technology space, highly visible to the connectivity’s systems and control of Phoenix Contact, wich will be used in a mobile system, important for the industry, educational and research. Our project provides space to the various technologies in use in the industrial automation and robotics: electronic,pneumatic, mechanical and computer sciences.

worm robot project italy ridotto - descrittiva · - industrial: to create a robot using industrial...

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