SEE THAT HOW I PREPARED MY ROBOT WHEN I WAS IN FIRST YEAR OF MY ENGINERING I STARTED LEARN ARDUINO ..............
ALL DESCRIPTION ARE HERE............
Introduction about Arduino Uno
I AM USING ARDUINO UNO R3 BOARD FROM MY ROBOT
Arduino is an open-source platform used for
building electronics projects. Arduino consists of both a physical programmable
circuit board (often referred to as a microcontroller) and a piece of software, or IDE (Integrated Development
Environment) that runs on your computer, used to write and upload computer code
to the physical board.
The Arduino platform has become
quite popular with people just starting out with electronics, and for good
reason. Unlike most previous programmable circuit boards, the Arduino does not
need a separate piece of hardware (called a programmer) in order to load new
code onto the board – you can simply use a USB cable. Additionally, the Arduino
IDE uses a simplified version of C++, making it easier to learn to program.
Finally, Arduino provides a standard form factor that breaks out the functions
of the micro-controller into a more accessible package.
FOR MORE DETAILS CLICK ON LINK BELOW HERE
OR YOU CAN BUY A CLONE VESION
THE DETAILS OF ARDUINO BOARD
1- USB jack
2- Power jack,
3- Processor
4- Communication chip
5- 16 MHz crystal
6- Reset button
7- On led
- TX/RX leds
9- Led
10- Power pins
11- Analog Inputs
12- TX and RX pins
13- Digital Inputs/outputs. The
"~" in front of the numbers are for PWM outputs.
14- Ground and AREF pins.
15-ICSP for Atmega328
16- ICSP for USB interface
ICSP it is a AVRtiny programming
header for the Arduino consisting of MOSI, MISO, SCK, RESET, VCC, GND. It
is often refered to as an SPI (Serial Peripheral Interface) which could be
considered an "expansion" of the output, but really, you are slaving
the output device to the master of the SPI bus.
The number of pins (Digital in/out
and Analog in) vary with the model of the board.
Software
FOR ARDIUNO OPERATING
Arduino
programs are written in C or C++. The Arduino IDE comes with a software library called
"Wiring" from the original Wiring project,
which makes many common input/output operations much easier. Users only need
define two functions to make a runnable cyclic executive
program
It
is a feature of most Arduino boards that they have an LED and load resistor
connected between pin 13 and ground; a convenient feature for many simple
tests.The previous code would not be seen by a standard C++ compiler as a valid
program, so when the user clicks the "Upload to I/O board" button in
the IDE, a copy of the code is written to a temporary file with an extra include
header at the top and a very simple main() function at the
bottom, to make it a valid C++ program.
THE LINK FROM WHERE YOU CAN DOWNLOAD
CLICK HERE http://arduino.cc/en/Main/Software
Hardware
Official Arduinos have
used the megaAVR series of chips, specifically the ATmega8, ATmega168,
ATmega328, ATmega1280, and ATmega2560. A handful of other processors have been
used by Arduino compatibles. Most boards include a 5 volt linear regulator and a 16 MHz crystal oscillator (or ceramic resonator in some variants), although some designs such as
the LilyPad run at 8 MHz and dispense with the onboard voltage regulator
due to specific form-factor restrictions. An Arduino's microcontroller is also
pre-programmed with a boot loader that simplifies uploading of programs to the
on-chip flash memory, compared with other devices that
typically need an external programmer. This makes using an Arduino more
straightforward by allowing the use of an ordinary computer as the programmer.
Features
of the Arduino UNO:
Microcontroller: ATmega328 (ATMEL an American microchip company )
Operating Voltage: 5V
Input Voltage (recommended): 7-12V
Input Voltage (limits): 6-20
Digital I/O Pins: 14 (of which 6 provide PWM output)
DC Current per I/O Pin: 40 mA
DC Current for 3.3V Pin: 50 mA
Flash Memory: 32 KB of which 0.5 KB used by bootloader
SRAM: 2 KB (ATmega328)
EEPROM: 1 KB (ATmega328)
Clock Speed: 16 MHz
Input Voltage (recommended): 7-12V
Input Voltage (limits): 6-20
Digital I/O Pins: 14 (of which 6 provide PWM output)
DC Current per I/O Pin: 40 mA
DC Current for 3.3V Pin: 50 mA
Flash Memory: 32 KB of which 0.5 KB used by bootloader
SRAM: 2 KB (ATmega328)
EEPROM: 1 KB (ATmega328)
Clock Speed: 16 MHz
Uses
of Arduino Uno circuit
Arduino Uno circuit can use robotics
and controlling system as our desire controlling system
As it can use in automobile worker
robot
As it can in home for controlling
electrical appliances
In factory machine controlling
By a good programming we can make a
movable robot
It can use for making different kind
of sensors
ELECRIC
MOTORS AND THEIR CONTROLLING USING ARDUINO
An electric motor is a device which
converts electrical energy into mechanical energy
A motor basically based on electromagnetisms when we pass current through a loop or coil
its induce a magnetic field around it with a fine pattern if that coil place
near another coil producing magnetic field or near a permanent magnet then they
attract of repel each other according to their poles
Types of motors
AC motors
DC motors
DC geared motors
Stepper motors
Servo motors
DC geared motors
These are the DC geared motors
having external gear arrangement attached with motor.
These are the motors that are
most commonly used in robotics as they are having
Considerable torque.
Stepper motor
A type of motor which takes DC
pulse input and gives rotating motion in steps.
They are of two types:
Unipolar: which moves in one
direction only.
Bipolar: which moves in both
directions.
If the number of coil is more,
then a stepper motor can move very accurately even for a single degree
Servo motors
Servo
motors are the most powerful motors
For
robotic applications. They comes in both variants, AC and DC.
They can change the direction
with same supply .A servomechanism, or servo is an automatic device that uses
error-sensing feedback to correct the performance of a mechanism. Servo Motors
are mechanical devices that can be instructed to move the output shaft attached
to a servo wheel or arm to a specified position. Servo Motors are designed for
applications involving position control, velocity control and torque
control.
MANY WAYS TO ROTATE A MOTOR BY
USING A MICROCONTROLLERS LIKE ARDUINO
Note: - a motor cannot rotate
directly using Arduino uno board
A motor based on electromagnetic induction,
when a motor rotate I generate an EMF in opposite polarity that can demise
microcontroller. Because the pic in which motor connected that only programmed
for as an output pin .so we have find the method by which motor can rotate
We can use shield for motor control
There a some other way which we
can rotate motor
1 using diode
Diode can be a good option but we
can only rotate motor only one direction like this
In above diagram two diode
connected to motor one with ground mean negative terminal and another with pin
1 which is output pulse from microcontroller is the diode connected this way
then the back EMF generated by motor cannot reaches to microcontroller pin
2 USING TRANSISTOR AS SWITH TECHNIUQE
TRANSISTOR
  |
The base of transistor is
connected to Arduino signal pin and this signal of enough to active the
transistor mean this base current help to connect collector and emitter this
lead to on and off the motor
3 MOTOR CONTROL USING RELAY
Relay uses an electromagnet. This
is device consisting of a coil of wire wrapped around an iron core. When
electricity is applied to the coil of wire it becomes magnetic, hence the term
electromagnet. The A B and C terminals are a switch controlled by the
electromagnet. When electricity is
applied to V1 and V2, the electromagnet acts as a switch so that the B and C
terminals are connected. When the electricity is disconnected, then the A and C
terminals are connected. It is important to note that the electromagnet is magnetically
linked to the switch but the two are NOT linked electrically.
There is another type of relay called
a solenoid that basically works on the same principle. The solenoid
electromagnet consists of wire wrapped around a tube containing an iron
cylinder called a "plunger". When electricity is supplied to the wire
coil, the "plunger" moves through the tube and activates a switch.
How to motor rotate
In this circuit C1 and D1 connected similarly D2 and E2 connected when there is no signal through PIN 1 and PIN 2 mean both the terminal of motor actually connected to GND thus motor is not rotate or relay is in OFF position
Similarly E1 and D1 connected similarly D2 and
C2 connected when there is signal through PIN 1 and PIN 2 both mean both the terminal of motor actually
connected to Vcc (5v) thus motor is not rotate or both the relay is ON When there signal through PIN1
and no signal though PIN2 mean only one relay is ON and now then D1 terminal
connected to E1 mean its connected to Vcc (5v) and other terminal D2 connected
to E2(GND )and now motor rotate one direction Similarly When there signal through PIN2 and no signal
though PIN1 mean only one relay is ON and now then D2 terminal connected to C2
mean its connected to Vcc(5v) and other terminal D1 connected to C1(GND) and now motor rotate another direction
4 Using H bridge ICs number L293D
L293D is a dual H-bridge motor
driver integrated circuit (IC). Motor drivers act as current amplifiers since
they take a low-current control signal and provide a higher-current signal.
This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.
2. Arduino UNO R3
3. PCB Board
4. Four motor drivers
5. 7.4 volt battery
6. Connecting Wires
7. Metal sheet
8. Nuts and Bolts
9. Solder
10. SPCO Switch (single pole changeover or single pole center off)
11. 0.5 mm Fused Jumper Wire, Used as Laminated Flat Flexible Cable for Automotive()
Key Specifications/Special Features:
· Wire type: flat laminated cable
· Available in 2.54 and 1.27mm pitches
· Rate temperature: 105°C
· Rating voltage: 300V
12. paper tap for insulation
13. Normal Flexible wire
14. Bakelite sheet to making parts
15. Capacitor : polarized 100microfared ,16volt and unpolarized of 100nanofared
16. L293D ICs * 4 to making motor driver
17. Ultrasonic sensor
Making of controlling of motor : motor
driver for eight motor
· First mount four L293D ICs in PBC board
· Then solder pins of IC and connect the wires
· Find input output Vcc and GND in ICs and mark them
· We must know about function of each pins
· Solder the connecting wire as our need of functions
· Stepwise making of driver mentioned below
INSIDE THE GEAR MOTOR
SOME GEAR WHICH CONVERT HIGH TO HIGH TOURQE
LIMITING SWITCH
SIGNAL CABLE
JOIN CONNCTION OF MOTOR
WIRE CONNACTION OF DRIVER WITH ALL 8 MOTOR AND ALL 16 LIMITING SWITCH
TOP VEIW OF MY ROBOT
see full video of my robot here
FOR PROGRAMMING AND CODE YOU CAN CONTACT ME AT FACEBOOK ,YOUTUBE OR EMAIL
FACEBOOK
EMAIL AT email
ROBOT VIDEO
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.
IF I KNOW ABOUT DRIVING OF TWO MOROR USING ONE L293D IC THEN WE CAN ABLE RO MOVE 8 MOTOR USING FOUR L293D IC
THE DESINGING PART OF DRIVER IS HERE
I USED DIPTRACE SOFTWARE FOR MAKING MY ONE DRIVER CIRCIUT .
The meaning of these code are
ALFB MOTOR front
left motor which move toward forward and backward
ALUD MOTOR front
left motor which move toward upward and downward
BLFB MOTOR back left motor which move toward forward
and backward
BLUD MOTOR back left motor which move toward upward
and downward
ARFB MOTOR front right motor which move toward
forward and backward
ARUD MOTOR back right motor which move toward upward
and downward
BRFB MOTOR back right motor which move toward forward
and backward
BRUD MOTOR back right motor which move toward upward
and downward
Code for movement
Alu = motor A of left side move
upward
Alb = motor A of left side move
downward
Alf = motor A of left side move
forward
Alb = motor A of left side move
backward
Aru = motor A of right side move
upward
Arb = motor A of right side move
downward
Arf = motor A of right side move
forward
Arb = motor A of right side move
backward
blu = motor B of left side move
upward
blb = motor B of left side move
downward
blf = motor B of left side move forward
blb = motor B of left side move
backward
bru = motor B of right side move
upward
brb = motor B of right side move
downward
brf = motor B of right side move forward
brb = motor B of right side move
backward
ROBOT DESIGNED
This
is four lagged robot which control its four leg and try to copy a movement of
animal of four leg. If there is some obstacle its act that robot become afraid
and move back .even its turn itself and when obstacle remove or if the
ultrasonic sensor unable to detect any object it’s again try to move in forward
direction
MATERIAL USED:
1.
8
Motors with Gear mechanism of high torque 2. Arduino UNO R3
3. PCB Board
4. Four motor drivers
5. 7.4 volt battery
6. Connecting Wires
7. Metal sheet
8. Nuts and Bolts
9. Solder
10. SPCO Switch (single pole changeover or single pole center off)
11. 0.5 mm Fused Jumper Wire, Used as Laminated Flat Flexible Cable for Automotive()
Key Specifications/Special Features:
· Wire type: flat laminated cable
· Available in 2.54 and 1.27mm pitches
· Rate temperature: 105°C
· Rating voltage: 300V
12. paper tap for insulation
13. Normal Flexible wire
14. Bakelite sheet to making parts
15. Capacitor : polarized 100microfared ,16volt and unpolarized of 100nanofared
16. L293D ICs * 4 to making motor driver
17. Ultrasonic sensor
· First mount four L293D ICs in PBC board
· Then solder pins of IC and connect the wires
· Find input output Vcc and GND in ICs and mark them
· We must know about function of each pins
· Solder the connecting wire as our need of functions
· Stepwise making of driver mentioned below
TOOLS USED:
Drill
Machine
Hex
Saw
Thick
Cutter
Marker
Scriber
Resistance
Welding Machine
Soldering
Iron
Solder
Sheet
cutter
Screw
Driver
Pliers
Hammers
FILE
Second design of arm
Arm of my robot must be design as
they act as a leg of animal so that its copy a animals movement
And it’s must be synchronies with all other
three leg so I design
INSIDE THE GEAR MOTORSOME GEAR WHICH CONVERT HIGH TO HIGH TOURQE LIMITING SWITCH SIGNAL CABLE JOIN CONNCTION OF MOTOR WIRE CONNACTION OF DRIVER WITH ALL 8 MOTOR AND ALL 16 LIMITING SWITCH
TOP VEIW OF MY ROBOT see full video of my robot here
FOR PROGRAMMING AND CODE YOU CAN CONTACT ME AT FACEBOOK ,YOUTUBE OR EMAIL
EMAIL AT email
ROBOT VIDEO
