Minesweepers is an international robotic competition on humanitarian demining that aims at motivating researchers and developers to work on innovative solutions for this serious problem.

1. Introduction To Robotics
BY: Ramy Antar, President of Assiut Robotics Lab

2. • Minesweepers: Toward a Landmine-free world.
• Main Components of ROBOT.
• Materials.
• Wheels and Motor.
• Steering Systems in Robotics.
• Skid steering System Calculation.
• Suspension Systems In Robotics.
Titles

3. Minesweepers: Toward a Landmine-free world.
• There are more than 110 million active mines scattered
in 68 countries
• kill or maim more than 5,000 people annually.
• cause 15,000-20,000 injuries each year
• finding and removing abandoned landmines causes
hazard to man-kind .

4. Competition Target
Start
Main
Detected
Motion
control
Buzzer
OFF
Buzzer
ON
Analysis Data to
create Map
End

5. Assuit Robotics Participation
Started in 2015
Continued until the last edition in 2018
About 50 students for our team participated
Best achievement was the 2th place in 2018

6. Discipline we work on over 4 years
Team Leader
Electrical
Section
GUI
Communicatio
n
Localization
Detection
Mechanical
Section
Mechanical
Design

7. Mechanical Design

8. • Frame Or Body.
• Wheels and Motors.
• Steering system.
• Suspension System.
• 2 Gripers.
Main Components of ROBOT.

9. Frame or Body and gripers Depend on Material.
• The main goal of material selection is to minimize cost
while meeting product performance goals.
Frame or Body

10. The minesweeper griper
• We made a mistake when we made the gripper from
perspex material , which can not afford to carry load and
cannot afford compressive load
case study on Material

11. • Metals
Iron, Aluminum
• Composites
Ceramics ,Glass ,Semi-conductors ,Structural ceramics (SiN,
SiC) or Refractory Composites
• Polymers
Rubber or Plastics
What kind of materials can I use?

12. Materials
1-Wood
• Wood is your first choice if you need to build an inexpensive
robot.
2-Aluminum
• But can cause heating the electric component.
3-plastics:
Acrylic and Perspex

13. • Standard Wheels.
• Most common wheels used in robotics is standard wheels.
• This type of wheels is characterized by two degrees of freedom and can run in
front and back.
• The angle between the robot frame and the wheel is constant while the center
of the wheel is fixed to the robot frame.
• standard wheel is mounted directly to the robot body.
Wheels and motors

14. Orientable wheels
• Based on two types including center and off-centered oriented, orientable
wheels are standard wheels mounted to a fixed or omni-directional fork
designed to catch the wheel. Compared with standard wheels, these wheels
are used in robotic projects for balance and less or not at all to drive a robot.
Wheels and motors

15. Ball wheels
• Based on a ball, these wheels have a total freedom of 360 degrees and like
orientable wheels are used to balance a robot. The ball can be builded from
metal or plastic and is positioned on the frame with a holder. Bellow I made an
overview of ball wheels for robots.
Wheels and motors

16. • Multi-directional Wheels
• wheel can kinematically move with very little friction along
many possible trajectories, not just forward and backward.
Wheels and motors

17. Motors

18. • Skid-Steer
• Differential drive
• Trailer steering
• Ackerman steering
• Actively controlled steering (Independent/explicit)
Steering Systems in Robotics.

19. Steering Schemes

20. Skid Steer

21. Differential drive

22. Ackerman steering

23. Skid Steering System Calculation

24. • Independent Suspension
• Rocker-Bogie Configurations
• Segmented-Body Rovers
Suspension Systems

25. Rocker-Bogie

26. Independent Suspension

27. Articulating Suspension - Nomad (CMU)

28. Rover

29. Mars Science Laboratory Development Unit

31. Finish