Collision Avoidance Wheeled Robot
Worked on the electronic circuits as well as the overall design of the robot. Focused on designing and simulating the Robot in Fusion 360 before implementing the design in reality.
Robot Operation
Multi-terrain Traverse
The robot has 4 motors to power it with the ability to traverse a 30 degrees incline. It is able to clear a 1-metre vertical step. The robot is programmed to be able to move forward and in the reversed direction. The objective of the school project is to apply the design thinking framework, work in teams and create a robot that is able to clear an obstacle course. Throughout the semester we created multiple prototypes before the final design. The team was split to focus on particular systems or on the report for the project.
Design Process
Circuit Design
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Tinkercad was used to test out the different circuits before implementation in the actual Arduino board. The circuit was tested out of the robot before the chassis of the robot is built.
Structure Design
The initial design of the robot was a walking robot with 4 legs driven by 4 motors. Measurements were taken and a mock-up was created using cardboard. This allows us to ensure that all the electronic components are able to fit into the robot chassis. The initial design calls for 2 Arduino boards which were reduced to 1 board to save weight.
CAD of Design
Once the design has been confirmed, Fusion 360 was used to design the robot to ensure that all components are able to fit before creating the actual robot. Fusion 360 was used for collaborative CAD work. The team worked on different parts of the design at different times.
Final Product Creation
From the CAD, the actual product was built. However, modifications had to be made to ensure that the robot worked flawlessly on the obstacle course. The wheels were enlarged with non-slip mats to increase traction. The diameter of the wheels was increased to increase ground clearance. The robots of other teams have their ultrasonic sensor elevated on a stilt such that it will not detect the slope and stop before completing the course. Whereas our team wanted to make our robot as flat as possible, thus we placed our ultrasonic sensor towards the front tilted upwards.
Components
1 - Arduino UNO
4 - 3-6V Dual shaft geared DC motor (with inbuilt gearbox)
1 - Multi-density fibreboard
1 - HC-SR04 Ultrasound distance sensor
1 - L293D Motor driver
1 - Breadboard
1 - 4x AA Battery holder
2 - 9V Battery holder
4 - Wheels
1 - Roll of non-slip mat
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