Multi-system robot
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Date
2015
Authors
Jamil Hamed
Amr Ibrahim
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Abstract
It is undeniable to any of us that robots have a great part in solving problems that facing humanity, it can carry out varying tasks in dangerous environments for humans to get to, we have chosen this idea as the starting point for our project and so we have decided to design and build a robot to carry out the aforementioned task and even more, we have decided to call it a Multi System Robot. Multi System Robot is a robot that moves on four wheels equipped with a robotic arm with five degrees of freedom to give it the flexibility and easiness in executing various tasks, the importance of this robot lies in the technology used to control its operation process as we can control it from any place in the world using wireless control technology in other words using the internet. The robot s assured to have video cameras to lively stream whats going around the robot to make the control process easier. The naming of the robot goes to the multi tasks is can do and to the multi systems that exists in the robot which are wireless internet control, manipulator system and video camera system. On the other hand, each of the aforementioned system can be used separately, for example the manipulator is considered a very important element in recent industries, the camera system could be used for security purposes in residential areas, public places and stores, the wireless control system can be used for integrated home automation.The main idea in our project is to control the robot remotely using Wi-Fi technology, so we need to support our robot with digital camera to show us clearly what the robot can see in order to make the control more safe and more precise as much as possible.We have designed and built this robot to carry out tasks hard for humans in harsh environments and dangerous situations, as well as residential tasks in houses and buildings, after the great effort we put in the project we were able to finish robot, we supplied it with equipments to allow it to carry its tasks, these equipments are high torque DC motors to taking into mind the worst case scenario which are inclined surfaces, a five degrees of freedom manipulator to allow carrying out its tasks with significant ease, two video cameras to allow a wide view of the surroundings of the robot while working in distant places, we have used a joystick hand controller to allow easier control of the robot and to achieve movement combinations that are otherwise would be hard to do, with all these equipments we have allowed the robot to solve so many problems that otherwise would be inconvenient for us to do.During the selection phase of the controller we first decided to use an Arduino but afterwards we figured that the video processing of the arduino was weak and extra hardware was required to get a good quality video streaming, unfortunately the required hardware wasnt available at the time so we shifted our attention to use a motherboard instead or perhaps a fully equipped laptop, at the time we wanted to use the parallel port as the means to send frequency to control the servo motors directly, the problem with this choice was that frequency generated through the parallel port lacked the precision so we couldnt use it, to solve this problem we needed a pulse width modulation hardware which wasnt available, so in the end we decided to use both of Arduino and a laptop connected together using serial port, the Arduino used to generate precise PWM signals to the servos and to control the robot in general and the laptop for high quality video streaming and internet access.light weight as possible, we even decided to mount the servos in their place using glue instead of using screws which were found to add considerable load to the arm .