This document describes the design and construction of a four-wheeled space robot to improve its speed and stability. The objectives are to design a CAD model, construct the robot, and test its performance. It discusses differential drive theory and describes the robot's components like an Arduino, motor driver, wheels and battery. The procedure involves creating a CAD model with four wheels connected to gear motors on a chassis. A circuit diagram shows the connections between the Arduino, motor driver, Bluetooth module and battery. The methodology controls the wheel rotation via Bluetooth from an Android device. The conclusion discusses how future robotics can enable leisure and space exploration for billions of people.

1. Design and construction on the improvement of
speed and stability of a space robot wheel.
Supervised by Submitted by
Dr. Md. Shahidul Islam Md. Hasibul Hasan
Professor Roll: 1205027
Department of Mechanical Engineering Section: B
Khulna University of Engineering & Technology
Course No. ME 3200

2. Outline
 Introduction
 Objectives
 Differential drive theory
 Procedure
 Final project
 Conclusion

3. Introduction
 Robots
Mechanical body, computer has its brain.
 Space Robotics
Substitute human activities in space.
 First obstacles for space robot are technical challenges.

4. Objectives
 To design a CAD model of four wheel powered robot.
 To construct a four wheeled drive robot.
 To increase speed of robot.
 To test performance of robot.

5. Robots in space
 Mars exploration robot.
 The Sojourner is a 6-wheeled vehicle of a rocker bogie design which
allows the traverse of obstacles a wheel diameter (13cm) in size.
Fig 1: Sojourner for Mars exploration robot.
 The normal driving power requirement for the micro rover is 10W.

6. Differential drive theory
 Two wheeled robots: Two wheeled robots are harder to balance than
other types because they must keep moving to maintain upright.
Fig 2: Two wheeled robot.

7. Differential drive theory (cont’d)
Three wheeled robot: 3-wheeled
vehicles may be of two types.
Fig 3: Three wheeled robot.
Four wheeled robot: This kind of
robot uses 2 pairs of powered
wheels. Each pair (connected by a
line) turn in the same direction.
Fig 4: 2-by-2 Powered rotating
wheels.

8. Procedure
Required components
 Arduino UNO
 L293D motor driver
 Four gear motor
 Four Wheel.
 HC 05 Bluetooth module
 Battery
 Chassis
 Connecting wires

9. Procedure (cont’d)
CAD model
 In the CAD model, chassis board have selected which of acrylic plastic
material. In the lower portion of the chassis four wheel have connected
with four gear motor. Gear motor have placed in equal spaced distance.
Fig 5: CAD model of four wheel drive robot.

10. Procedure (cont’d)
Circuit diagram
A battery have been used for power supply. Bluetooth modules Tx, Rx pin
have been connected to arduino’s Rx, Tx pin respectively. Motor drivers
enable two pin were connected to the PWM (Pulse Width Modulation) of
arduino board.
Fig 6: Circuit diagram for arduino, motor driver, bluetooth module and
battery.

11. Procedure (cont’d)
Methodology
Bluetooth
module
Arduino
Motor
driver
Wheel
rotates
Android
device

12. Final project

13. Conclusion
In the future, robotics will makes it possible for billions of
people to have lives of leisure instead of the current
preoccupation with material needs.
There are hundreds of millions who are now fascinated by space
but do not have the means to explore it.
For them space robotics will throw open the door to explore and
experience the universe.

14. Conclusion (cont’d)
Scope of future work
 The Sojourner is a 6-wheeled vehicle of a rocker bogie design which allows the
traverse of obstacles a wheel diameter (13cm) in size.
 Each wheel is independently actuated and geared (2000:1). This design is also
similar to Sojourner robot.
 This frame design should climb up to 60 degree bridge with high torque motor.
Fig 7: Six wheel rocker bogie CAD model.

15. Thank You