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. 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
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. 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. 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. If you have any questions, please feel free to
contact caomincan@gmail.com
