Tree climbing robot 2014 edit

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Tree climbing robot 2014 edit

  1. 1. TREE CLIMBING ROBOT Submitted in the partial fulfillment of the requirement for the award of “DIPLOMA IN MECHANICAL ENGINEERING ” SUBMITTED BY: 1. G.K. MANIGANDAN 2. B. KARTHIKEYAN 3. P. BALASUBRAMANI 4. J. DHANAJEYAN 5. D. DURAIVEL 6. L. PRABHU Under guidance of Mr. SABARINATHAN,M.E. MARCH 2014. DEPARTMENT OF MECHANICAL ENGINEERING SRI DURGA DEVI POLYTECHNIC COLLEGE KAVERIPETTAI, CHENNAI – 600053
  2. 2. SRI DURGA DEVI POLYTECHNIC COLLEGE KAVERIPETTAI, CHENNAI – 600053 BONAFIDE CERTIFICATE This is to certify that this Project work on “TREE CLIMBING ROBOT” submitted by …………………… ……………. Reg. No. …………… in partial fulfillment for the award of DIPLOMA IN MECHANICAL ENGINEERING This is the bonafide record of work carried out by him under our supervision during the year 2014 Submitted for the Viva-voce exam held on …………….. HEAD OF THE DEPARTMENT INTERNAL EXAMINER PROJECT GUIDE EXTERNAL EXAMINER
  3. 3. ACKNOWLEDGEME NT
  4. 4. ACKNOWLEDGEMENT At the outset, we would like to emphasize our sincere thanks to the Principal Mr. ================., M.E., MISTE., Ph.D., encouragement and valuable advice. we thank our Esquired Head of Department Mr MEGANATHAN, M.E., for presenting his felicitations on us. We are grateful on our Entourages Mr. SABARINATHAN , M.E., for guiding in various aspects of the project making it a grand success. We also owe our sincere thanks to all staff members of the Mechanical Engineering Department. Ultimately, we extend our thanks to all who had rendered their cooperation for the success of the project.
  5. 5. CONTENTS
  6. 6. CONTENTS Chapter No. TITLE 1. INTRODUCTION 2. SYNOPSIS 3. CONSTRUCTION 4. WORKING PRINCIPLE 5. ADVANTAGES 6. MECHANICAL SPARE PARTS DETAILS 7. ELECTRICAL PARTS DETAILS 8. ELECTRICAL CIRCUIT DETAILS 9. FINISHING AND PAINTING 10. COST ESTIMATION 11. CONCLUSION 12. BIBILOGRAPHY
  7. 7. INTRODUCTION
  8. 8. INTRODUCTION This is a self – assessment test on the part of the students to assess his competency in creativity. During the course of study, the student is put on a sound theoretical foundation of various mechanical engineering subjects and of course, to a satisfactory extent. Opportunities are made available to him to work on different kinds of machines, so that he is exposed to various kinds of manufacturing process. As a students learn more and more his hold on production technology becomes stronger. He attains a stage of perfection, when he himself is able to design and fabricate a device. This is the project work. That is the testimony for the strenuous training, which the student had in the institute. This assures that he is no more a student, he is an engineer. This report discuses the necessity of the project and various aspects of planning , design, selection of materials, fabrication, erection, estimation and testing.
  9. 9. SYNOPSIS
  10. 10. SYNOPSIS From centuries humans have been climbing trees and poles for various jobs. This thing we have inherited from our ancestors. Evidently, this skill has evolved from the need of protection from animals or collecting food from trees. In the present world climbing poles is used in other fields of technology as well. With time the needs have increased. The requirement to carry load on and off the trees and poles has shifted man’s focus on building machines to do the job. This “Tree Climber” is built to solve the problems man faced with climbing. The robot works on two sub-mechanisms: (a) Gripping (b) Climbing The machine could take load on and off the tree and pole whenever required. The robot is autonomous. The speed of climbing depends on the pitches of the ball screws placed for movements of arms and the top and bottom gripper assembly. The movement of the machine is like an ape climbing the tree. First, the upper pair of arms grip the tree then the body moves up then the lower pair of arms grip the tree then the upper pair leaves the contact and the body moves up.
  11. 11. OBJECTIVE: To build a Tree climbing machine which can bear a loading up to 2 kilograms. @ Initial Problem Statement: The machine should be able to climb straight poles and trees to fulfill all purposes. CONSTRAINTS:  It is difficult to build a heavy machine in the students’ lab.  Trees and poles have different friction coefficient values and different built structures so the devised mechanism should be such that it works equally good for both kind of surfaces. LIMITATIONS OF DESIGN:  The robot is built for branchless trees.  The load carrying capacity could be maximized only to 3 kgs
  12. 12. WORKING OPERATION
  13. 13. WORKING OPERATION
  14. 14. BLOCK DIAGRAM Hand operated remote control BATTERY ARIEL Power supply 5V Start SWITCH MAIN PROCESSOR 5VDC TO 12VDC DRIVE CARD Forward RELAY 5VDC TO 12VDC DRIVE CARD Reverse RELAY MOTOR 1,2 and 3
  15. 15. CIRCUIT DETAILS
  16. 16. HARD WARE CIRCUIT REQUIREMENTS The hardware circuit requirements details consists of 1. Micro controller system 2. Power supply –BATTERY 7.5AH /12 V DC)2 NOS 3. 5VDC TO 12VDC DRIVE CARD 4. REMOTE CONTROL CIRCUIT 5. MOTOR FORWARD AND REVERSE CONTROL RELAY 6. 24DC MOTOR WIYH BUILT IN GEAR BOX MICRO CONTROLLER SYSTEM: This system monitors the engine condition by using PIC 16F870 (28 pin IC Package) micro controller. The pin details of micro controller are shown in figure.
  17. 17. The circuit diagram for this micro controller board is shown below,
  18. 18. MOTHER BOARD CIRCUIT DETAILS the reset switch is connected to PORTA (i.e)pin no 1, The start switch is connected to PORT B, 7 and MOTOR is connected to PORT C, The power supply is connected to Pin 19 & 20.The ARIEL CIRCUIT is connected to PORTB ,6.and PORTB ,7
  19. 19. POWER SUPPLY 5V DC AND 12V DC;
  20. 20. A 12 –0 v step down transformer is used to step down 230V AC to 12V AC .This 12V AC supply is converted to 12V DC using four rectifier diodes. The voltage from the rectifier section is regulated to 12V DC using 7812 IC .This voltage is used for supply for the DC motor. From 12V DC the 7805 IC is used for regulating 5V DC for the microcontroller. The power supply circuit is shown in fig. Power Supply: power supply of
  21. 21. There are many types of power supply. Most are designed to convert high voltage AC mains electricity to a suitable low voltage supply for electronics circuits and other devices. A power supply can by broken down into a series of blocks, each of which performs a particular function. For example a 5V regulated supply can be shown as below Block Diagram of a Regulated Power Supply System Similarly, 12v regulated supply can also be produced by suitable selection of the individual elements. Each of the blocks is described in detail below and the power supplies made from these blocks are described below with a circuit diagram and a graph of their output: Transformer: A transformer steps down high voltage AC mains to low voltage AC. Here we are using a center-tap transformer whose output will be sinusoidal with 36volts peak to peak value.
  22. 22. The low voltage AC output is suitable for lamps, heaters and special AC motors. It is not suitable for electronic circuits unless they include a rectifier and a smoothing capacitor. The transformer output is given to the rectifier circuit. Rectifier: A rectifier converts AC to DC, but the DC output is varying. There are several types of rectifiers; here we use a bridge rectifier. The Bridge rectifier is a circuit, which converts an ac voltage to dc voltage using both half cycles of the input ac voltage. The Bridge rectifier circuit is shown in the figure. The circuit has four diodes connected to form a bridge. The ac input voltage is applied to the diagonally opposite ends of the bridge. The load resistance is connected between the other two ends of the bridge. For the positive half cycle of the input ac voltage, diodes D1 and D3 conduct, whereas diodes D2 and D4 remain in the OFF state. The conducting diodes will be in series with the load resistance R L and hence the load current flows through RL.
  23. 23. For the negative half cycle of the input ac voltage, diodes D2 and D4 conduct whereas, D1 and D3 remain OFF. The conducting diodes D2 and D4 will be in series with the load resistance R L and hence the current flows through RL in the same direction as in the previous half cycle. Thus a bidirectional wave is converted into unidirectional. Rectifier circuit Output of the Rectifier
  24. 24. The varying DC output is suitable for lamps, heaters and standard motors. It is not suitable for lamps, heaters and standard motors. It is not suitable for electronic circuits unless they include a smoothing capacitor. Smoothing or filtering: The smoothing block smoothes the DC from varying greatly to a small ripple and the ripple voltage is defined as the deviation of the load voltage from its DC value. Smoothing is also named as filtering. Filtering is frequently effected by shunting the load with a capacitor. The action of this system depends on the fact that the capacitor stores energy during the conduction period and delivers this energy to the loads during the no conducting period. In this way, the time during which the current passes through the load is prolonging Ted, and the ripple is considerably decreased. The action of the capacitor is shown with the help of waveform.
  25. 25. Waveform of the rectified output smoothing Regulator: Regulator eliminates ripple by setting DC output to a fixed voltage. Voltage regulator ICs are available with fixed (typically 5V, 12V and 15V) or variable output voltages. Negative voltage regulators are also available Many of the fixed voltage regulator ICs has 3 leads (input, output and high impedance). They include a hole for attaching a heat sink if necessary. Zener diode is an example of fixed regulator which is shown here.
  26. 26. Regulator Fig.1.5 Transformer + Rectifier + Smoothing + Regulator: RELAY: Relay is device, which is used to operate the two different voltages. electromechanical
  27. 27. Fig.1.6 SPECIFICATION OF RELAY: a) Nature of supply: 12v dc to 230 v ac b) Coil voltage: 12v c) No of NO and NC contacts: 1, 1 d) No of poles: single pole double throw e) Shape of contact point: flat f) Contact point material: silver or silver alloy g) Type of relay: electro mechanical
  28. 28. 5 TO 24 V DC DRIVE CARD Here we have to drive the 12V DC load. The 5V signal from the PIC 16F870 micro-controller is fed into the input of interface circuit. SL100 transistor is used here for high speed switching purpose and IRF 540N MOSFET is connected to the motor to handle the larger current drawn by the MOTOR.
  29. 29. RESISTORS: - A Resistor is a heat-dissipating element and in the electronic circuits it is mostly used for either controlling the current in the circuit or developing a voltage drop across it, which could be utilized for many applications. There are various types of resistors, which can be classified according to a number of factors depending upon:  Material used for fabrication  Wattage and physical size  Intended application  Ambient temperature rating  Cost Basically the resistor can be split in to the following four parts from the construction view point. (1) Base (2) Resistance element (3) Terminals (4) Protective means. The following characteristics are inherent in all resistors and may be controlled by design considerations and choice of material i.e. Temperature co– efficient of resistance, Voltage co–efficient of resistance, high frequency characteristics, power rating, tolerance & voltage rating of resistors. Resistors may be classified as (1) Fixed (2) Semi variable (3) Variable resistor.
  30. 30. CAPACITORS The fundamental relation for the capacitance between two flat plates separated by a dielectric material is given by:C=0.08854KA/D Where: C= capacitance in pf. K= dielectric constant A=Area per plate in square cm. D=Distance between two plates in cm Design of capacitor depends on the proper dielectric material with particular type of application. The dielectric material used for capacitors may be grouped in various classes like Mica, Glass, air, ceramic, paper, Aluminum, electrolyte etc. The value of capacitance never remains constant. It changes with temperature, frequency and aging. The capacitance value marked on the capacitor strictly applies only at specified temperature and at low frequencies. LED (Light Emitting Diodes): As its name implies it is a diode, which emits light when forward biased. Charge carrier recombination takes place when electrons from the N-side cross the junction and recombine with the holes on the P side. Electrons are in the higher conduction band on the N side whereas holes are in the lower valence band on the P side. During recombination, some of the energy is given up in the form of heat and light. In the case of semiconductor materials like Gallium arsenide (GaAs), Gallium phoshide (Gap) and Gallium arsenide phoshide (GaAsP) a greater percentage of energy is released during recombination and is given out in the form of light. LED emits no light when junction is reverse biased.
  31. 31. 3.a Relay: A relay is an electrically operated switch. Many relays use an electromagnet to operate a switching mechanism mechanically, but other operating principles are also used. Relays are used where it is necessary to control a circuit by a low-power signal (with complete electrical isolation between control and controlled circuits), or where several circuits must be controlled by one signal. The first relays were used in long distance telegraph circuits, repeating the signal coming in from one circuit and re-transmitting it to another. Relays were used extensively in telephone exchanges and early computers to perform logical operations. A type of relay that can handle the high power required to directly control an electric motor is called a contactor. Solid-state relays control power circuits with no moving parts, instead using a semiconductor device to perform switching. Relays with calibrated operating characteristics and sometimes multiple operating coils are used to protect electrical circuits from overload or faults; in modern electric power systems these functions are performed by digital instruments still called "protective relays".
  32. 32. 3.b Basic design and operation: A simple electromagnetic relay consists of a coil of wire surrounding soft iron core, an iron yoke which provides a low reluctance path for magnetic flux, a movable iron armature, and one or more sets of contacts (there are two in the relay pictured). The armature is hinged to the yoke and mechanically linked to one or more sets of moving contacts. It is held in place by a spring so that when the relay is de-energized there is an air gap in the magnetic circuit. In this condition, one of the two sets of contacts in the relay pictured is closed, and the other set is open. Other relays may have more or fewer sets of contacts depending on their function. The relay in the picture also has a wire connecting the armature to the yoke. This ensures continuity of the circuit between the moving contacts on the armature, and
  33. 33. the circuit track on the printed circuit board (PCB) via the yoke, which is soldered to the PCB. When an electric current is passed through the coil it generates a magnetic field that attracts the armature and the consequent movement of the movable contact either makes or breaks (depending upon construction) a connection with a fixed contact. If the set of contacts was closed when the relay was deenergized, then the movement opens the contacts and breaks the connection, and vice versa if the contacts were open. When the current to the coil is switched off, the armature is returned by a force, approximately half as strong as the magnetic force, to its relaxed position. Usually this force is provided by a spring, but gravity is also used commonly in industrial motor starters. Most relays are manufactured to operate quickly. In a low-voltage application this reduces noise; in a high voltage or current application it reduces arcing. When the coil is energized with direct current, a diode is often placed across the coil to dissipate the energy from the collapsing magnetic field at deactivation, which would otherwise generate a voltage spike dangerous to semiconductor circuit components. Some automotive relays include a diode inside the relay case. Alternatively, a contact protection network consisting
  34. 34. of a capacitor and resistor in series (snubber circuit) may absorb the surge. If the coil is designed to be energized with alternating current (AC), a small copper "shading ring" can be crimped to the end of the solenoid, creating a small out-of-phase current which increases the minimum pull on the armature during the AC cycle. A solid-state relay uses a thyristor or other solid-state switching device, activated by the control signal, to switch the controlled load, instead of a solenoid. An optocoupler (a light-emitting diode (LED) coupled with a photo transistor) can be used to isolate control and controlled circuits. 3.c Type of Relay: · Latching relay · Reed relay · Mercury-wetted relay · Polarized relay · Machine tool relay · Contactor relay · Solid-state relay · Solid state contactor relay · Buchholz relay
  35. 35. · Forced-guided contacts relay · Overload protection relay 3.d Applications: Relays are used to and for: · Control a high-voltage circuit with a low-voltage signal, as in some types of modems or audio amplifiers, · Control a high-current circuit with a low-current signal, as in the startersolenoid of an automobile, · Detect and isolate faults on transmission and distribution lines by opening and closing circuit breakers (protection relays), A DPDT AC coil relay with "ice cube" packaging · Isolate the controlling circuit from the controlled circuit when the two are at different potentials, for example when controlling a mains-powered device from a low-voltage switch. The latter is often applied to control office lighting as the low voltage wires are easily installed in partitions, which may be often moved as needs change. They may also be controlled by room occupancy detectors in an effort to conserve energy, · Logic functions. For example, the boolean AND function is realised by connecting normally open relay contacts in series, the OR function by connecting normally open contacts in parallel. The change-over or Form C
  36. 36. contacts perform the XOR (exclusive or) function. Similar functions for NAND and NOR are accomplished using normally closed contacts. The Ladder programming language is often used for designing relay logic networks. · Early computing. Before vacuum tubes and transistors, relays were used as logical elements in digital computers. See ARRA (computer), Harvard Mark II, Zuse Z2, and Zuse Z3. · Safety-critical logic. Because relays are much more resistant than semiconductors to nuclear radiation, they are widely used in safety-critical logic, such as the control panels of radioactive waste-handling machinery. · Time delay functions. Relays can be modified to delay opening or delay closing a set of contacts. A very short (a fraction of a second) delay would use a copper disk between the armature and moving blade assembly. Current flowing in the disk maintains magnetic field for a short time, lengthening release time. For a slightly longer (up to a minute) delay, a dashpot is used. A dashpot is a piston filled with fluid that is allowed to escape slowly. The time period can be varied by increasing or decreasing the flow rate. For longer time periods, a mechanical clockwork timer is installed.
  37. 37. INTRODUCTION TO MICROCONTROLLER
  38. 38. INTRODUCTION TO MICROCONTROLLER PIC WITH RS-232 INTRODUCTION: The PIC Microcontrollers are supported with a full range of Hardware and software development tools. The used PIC16F870 device comes in 28 pin package. To communicate with the PIC we are using RS-232 standard port of computer. In personal computer, data transfer takes place serially. RS-232 standard is used for serial communication. PIC Microcontroller is linked to PC through the RS-232 port. The PC displays the menu for selecting the calibrating equipment and all the calibration results graphically and in tabular form. The user can access the calibration reports, comparison graphs etc at any time using the menu offered in the PC. PIC MICROCONTROLLER: The PIC Microcontrollers are supported with a full range of hardware and software development tools. The used PIC16F870 device comes in 28 pin package. To communicate with the PIC we are using RS-232 port of the computer. So we have to initialize the port before using it. To initialize and
  39. 39. to communicate with the PIC, the file COM.C defines and uses several functions. The functions and their definitions are given below. ADC RELATED FUNCTIONS: void Set Reference (int ref); This function is used to set the INTERNAL or EXTERNAL reference for the ADC. The parameter ref can accept any one of the two values. They are, Internal_ref External_ref Set Reference (INTERNAL_REF); Float GetAdcCh(int Chno); This function is used to get the specified channel’s (Chno) digital value from ADC. The parameter Chno can accept a range of values from 0 to 9, which is the channel number. For example, Var = GetAdcCh(5); Void Initialize Port (char * str);
  40. 40. This function must be called before performing any digital input/output operation. Register D: Register D: Register C: Register A: Reserved Bits Cannot alter Can be configured as Configurable bits can be either zero or one according to the initialization. If the particular bit is to be used as a input port then write ‘1’ to it else ‘0’ for output. For Example, Initialize Port (“[1ffffffff]”); Above statement mention all registers bits are act as input port.
  41. 41. MICROCONTROLLER CORE FEATURES:  High-performance RISC CPU  Only 35 single word instructions to learn  All single cycle instructions except for program branches which are two cycles  Operating speed: DC-20 MHz clock input DC – 200 ns instruction cycle  4K x 14 words of Program Memory, 256 x 8 bytes of Data Memory (RAM)  Interruput capability (upto 14 Internal / External interrupt sources)  Eight level deep hardware stack  Direct, indirect, and relative addressing modes  Power-on Reset (POR)  Power-up Timer (PWRT) and Oscillator Start-up Timer (OST)  Watchdog timer (WDT) with its own on-chip RC oscillator for reliable operation
  42. 42.  Programmable code-protection  Power saving SLEEP mode  Selectable oscillator options  Low-power, high-speed CMOS EPROM technology  Fully static design  In-circuit Serial Programming (ISC)  Wide operating voltage range: 2.5V to 5.5V  High Sink / Source current 25/25 mA  Commercial and Industrial temperature ranges  Low power consumption  <2 mA at 5V, 4 MHz  22.5 mA typical at 3V, 32 KHz  <1 mA typical standby current
  43. 43. PERIPHERAL FEATURES:  Timer 0: 8-bit timer / counter with 8-bit prescaler  Timer 1: 16 bit timer / counter with prescaler, can be incremented during sleep via external crystal/clock  Timer 2: 8 bit timer / counter with 8 bit period register, prescaler and postscaler  Two capture, compare, PWM modules  Caputure is 16 bit, max. resolution is 12.5 ns  Compare is 16 bit, max. resolution is 200 ns,  PWM max. resolution is 10 bit  12 bit multi channel Analog-to Digital converter  On-chip absolute band gap voltage reference generator  Synchronous Serial Port (SSP) with SPI (Master Mode) and I 2 C  Universal Synchronous Asynchronous Receiver Transmitter, supports high / low speeds and 9 bit address mode (USART/SCI)  Parallel Slave Port (PSP) 8 bits wide, with external RD, WR and CS controls
  44. 44.  Programmable Brown out detection circuitry for Brownout Reset (BOR)  Programmable Low-voltage detection circuitry SOFTWARE DETAILS (INSTRUCTION SET) INTRODUCTION: Each PIC16F870 instruction is a 14 bit word divided into an opcode which specifies the instruction type and one or more operands which further specify the operation of the instruction. The PIC16F870 instruction set summary in Table lists byte oriented bit-oriented and literal and control operations. Table shows the opcode field descriptions. For byteoriented instructions, ‘f’ represents a file register designator and ‘d’ represents a destination designator. The file register designator specifies which file register is to be used by the instruction. The destination designator specifies where the result of the operation is to be placed. If ‘d’ is zero, the result is placed in the W register. If ‘d’ is one, the result is placed in the file register specified in the instruction. For bit-oriented instructions. ‘b’ represents a bit field designator which selects the number of the bit affected by the operation, while ‘f’ represents the number of the file in which the bit is
  45. 45. located. For literal and control operations, ‘k’ represents an eight or eleven bit constant or literal value. The instruction set is highly orthogonal and is grouped into three basic categories,  Byte oriented operations  Bit-oriented operations  Literal and control operations All instructions are executed within one single instruction cycle, unless a conditional test is true or the program counter is changed as a result of an instruction. In this case, the execution takes two instruction cycles with the second cycle executed as a NOP. One instruction cycle consists of four oscillator periods. Thus, for an oscillator frequency of 4 MHz, the normal instruction execution time is 1 micro second. If a conditional test is true or the program counter is changed as a result of an instruction, the instruction execution time is 2 µs. All examples use the following format to represent a Hexadecimal number : 0xhh, where h signifies a hexadecimal digit. GENERAL FORMAT FOR INSTRUCTIONS: FIELD DESCRIPTION: f Register file address (0 x 00 to 0x7F)
  46. 46. W Working register (accumulator) b Bit address within an 8-bit file register k Literal field, constant data or label x Don’t care location (=0 or 1) INSTRUCTION SET 16CXX has 35 instructions. All instructions are single cycle, except for any program that branches. This take two cycles since the fetch instruction is flushed from the pipe line by changing the content of PC, while the new instruction is being fetched and then executed. The instruction set is grouped into three basic categories. # Byte Oriented operations # Bit oriented operations # Literal and control operations For byte-oriented instructions, ‘f’ represents a file register designator and ‘d’ represents destination designator. The file register designator specifies which file register is to be used by the instruction. For bit oriented instructions ‘b’ represents a bit field designator which selects the number of the bit affected by the operation, while ‘f’ represents the number of the file in which the bit is located. For literal and control operation ‘k’ represents an eight or eleven bit constant or literal value.
  47. 47. BYTE ORIENTED FILE REGISTER OPERATIONS: ADDWF f,d ANDWF f,d CLRF f CLRW COMPF f,d DECF f,d DECFSZ f,d INCF f,d INCFSZ f,d IORWF f,d MOVF f,d NOP RLF f,d RRF f,d SUBWF f,d SWAPF f,d XORWF f,d
  48. 48. BIT ORIENTED FILE REGISTER OPERATIONS: BCF f,b BSF f,b BTFSC f,b BTFSS f,b LITERAL AND CONTROL OPERATIONS: ADDLW k ANDLW k CALL k CLRWDTR GOTO k IORLW k MOVLW k RETFIE RETLW k RETURN SLEEP SUBLW k XORLW k
  49. 49. ADVANTAGES
  50. 50. ADVANTAGES  It requires simple maintenance cares.  this project does not require any external transmission arrangements.  This add to the system leads safety for coconut tree climber  Easy to Handle.
  51. 51. DISADVANTAGES
  52. 52. DISADVANTAGES Initial cost is high High maintenance cost
  53. 53. APPLICATIONS
  54. 54. APPLICATIONS 1.it is used to climb in the electrical post for carrying tools. 2. it is used to carry camera which is held at the top of the tree for research activities.
  55. 55. ELECTRICAL CIRCUIT DIAGRAM
  56. 56. ELECTRICAL CIRCUIT DIAGRAM PORT B (KEYPAD)INPUT & OUTPUT CIRCUIT
  57. 57. PIC 16F 870
  58. 58. MOTHER BOARD CIRCUIT DETAILS
  59. 59. POWER SUPPLY
  60. 60. CONCLUSION
  61. 61. CONCLUSION We make this project entirely different from other projects. Since concepts involved in our project is entirely different that a single unit is used to various purpose which is not developed by any of other team members. We have successfully complete this project work at our Institute. By doing this project work we understood the working principle of uses of various relays, switches, valves and cylinders. Once again we express our sincere thanks to our staff members.
  62. 62. COST ESTIMATION
  63. 63. COST ESTIMATION 1. Mobile unit 2. CONTROLLER ------------------------- 1000.00 2300.00 3. Battery -------------- 400.00 4. Dc motor ------------------------------------------------1100.00 5. Wires, Screws ------------------ 200.00 6. RELAY circuit---------------------------------------- 600.00 7. Miscellanies charges ----------------------------400.00 ------------------6000.00
  64. 64. BIBLIOGRAPHY
  65. 65. BIBLIOGRAPHY http://researchdesignlab.com 1. Design with Micron roller – John Peatman 2. Customizing and programming PIC Micro controller – Myke Predko 3. Electronics for you Projects – Volume 1 to 15 4. Sensors – Keyence Manual 5. Micro controller and its application – Kenneth Ayala 6. www.microchip.com 7. www.google.com 8. www.8051.com
  66. 66. PHOTO VIEW
  67. 67. PHOTO VIEW

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