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Southeast University
School of
Mechanical Engineering
Exploration Robot
Team Members:
Mincan Cao , Shupeng Lv , Di Zhang
S...
 Tracked Walking Mechanism
-able to work under different conditions
 5 Degrees of Freedom Manipulator
-to collect small ...
Exploration
Robot
Mechanical
Design
Modeling
Electronic
Hardware Design
Motors;Cams
Control Solutions
(software)
Communica...
 Preset some parameters
1. Tracked Walking Mechanism
- Length 400mm ; Width 250mm; Height 150mm
2. Manipulator
- 5 DOF
- ...
 After modeling:
Robot Weight: Almost 8 Kg
Rear derived
Synchronous belt instead of track
Four small wheels work as tensi...
 After modeling:
Traditional joint manipulator
Exploration Robot
MCU
Freescale
MC9S12XS128
8 PWM
6 DC Motors 2 Steering Gear
PC
Counter
Speed Sensors
SCI
nrf905
nrf905
S...
 Motors
- 2 for Action wheels, 1 for Camera,
3 for Manipulator (Rated Voltage: 12V)
- Wrist and Hands using Steering Gear...
 Power Supply
As mentioned before, different device work on different
voltage.
12V: DC Motors
7.2V: Steering Gears
5V: MC...
 Problems:
1. MCU
- PID function
Use the formula in time domain
With the help of interrupt function
- SCI function
take d...
If you have any questions, please feel free to
contact caomincan@gmail.com
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EXPLORATION ROBOT

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EXPLORATION ROBOT

  1. 1. Southeast University School of Mechanical Engineering Exploration Robot Team Members: Mincan Cao , Shupeng Lv , Di Zhang Supervisors: Pro. Zhang Dr. Dai Prepared by Mincan Cao
  2. 2.  Tracked Walking Mechanism -able to work under different conditions  5 Degrees of Freedom Manipulator -to collect small samples -to remove obstacles  Two Wireless Cameras -one is a part of Eye-in-hands system -the other is for observation  Remote Control
  3. 3. Exploration Robot Mechanical Design Modeling Electronic Hardware Design Motors;Cams Control Solutions (software) Communication
  4. 4.  Preset some parameters 1. Tracked Walking Mechanism - Length 400mm ; Width 250mm; Height 150mm 2. Manipulator - 5 DOF - Arm 200mm ; Forearm 150mm ; End-Effector 144mm 3. Material: Aluminum alloy
  5. 5.  After modeling: Robot Weight: Almost 8 Kg Rear derived Synchronous belt instead of track Four small wheels work as tension equipment
  6. 6.  After modeling: Traditional joint manipulator
  7. 7. Exploration Robot MCU Freescale MC9S12XS128 8 PWM 6 DC Motors 2 Steering Gear PC Counter Speed Sensors SCI nrf905 nrf905 SCI Video Capture Card Cameras
  8. 8.  Motors - 2 for Action wheels, 1 for Camera, 3 for Manipulator (Rated Voltage: 12V) - Wrist and Hands using Steering Gear(Rated Voltage: 7.2V) - Encoder as Speed Sensor - Close-loop Feedback System - PID formula
  9. 9.  Power Supply As mentioned before, different device work on different voltage. 12V: DC Motors 7.2V: Steering Gears 5V: MCU, Sensors, Cameras So, when the voltage of battery is 12V, we should use buck regulator to make sure other device that could work on the rated voltage.
  10. 10.  Problems: 1. MCU - PID function Use the formula in time domain With the help of interrupt function - SCI function take different numbers of letters as different work status PC send message to change the status MCU run different functions according to status 2. PC - Synchronous display multi-videos With the help of dirstshow ( DirectX Ver. 9.0 C above, Microsoft provides SDK) With the help of Opencv Lib
  11. 11. If you have any questions, please feel free to contact caomincan@gmail.com

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