Design And Construction Of A Following Robot

ABSTRACT

Line following robot is an autonomous vehicle which detect black line to move over the white surface or bright surface. In this paper, the line following robot is constructed by using Arduino nano microcontroller as a main component and consists of three infrared (IR) sensors, four simple DC motors, four wheels and a PCB frame of robot chassis. The infrared sensors are used to sense the black line on white surface. When the infrared signal falls on the white surface, it gets reflected and it falls on the black surface, it is not reflected. In this system, four simple DC motors attached with four wheels are used to move the robot car’s direction that is left, right and forward. The Arduino nano is used as a controller to control the speed of DC motors from the L2953D driver circuit.

TABLE OF CONTENTS

 TITLE PAGE

APPROVAL PAGE

DEDICATION

ACKNOWLEDGEMENT

ABSTRACT

TABLE OF CONTENT

CHAPTER ONE

INTRODUCTION

• BACKGROUND OF THE STUDY
• PROBLEM STATEMENT
• AIM AND OBJECTIVE OF THE PROJECT
• SCOPE  OF THE PROJECT

CHAPTER TWO

LITERATURE REVIEW

2.1      REVIEW OF RELATED STUDIES

2.2     OVERVIEW OF A ROBOT

2.3     HISTORICAL BACKGROUND OF ROBOT

CHAPTER THREE

3.0      METHODO

3.1      SYSTEM BLOCK DIAGRAM

3.2       DESIGN AND IMPLEMENTATION OF THE SYSTEM

3.3       CIRCUIT DESIGN OF LINE FOLLOWING ROBOT

3.4       CIRCUIT DESCRIPTION

3.5      OVERALL FLOW CHART OF THE SYSTEM

3.6      WORKING PRINCIPLE OF LINE FOLLOWING ROBOT

3.7      PROGRAM CODE

CHAPTER FOUR

4.0TEST AND RESULT

4.1      CONSTRUCTION PROCEDURE

4.2     CASING AND PACKAGING

4.3     ASSEMBLING OF SECTIONS

4.4    TEST AND RESULT

CHAPTER FIVE

• CONCLUSION AND REFERENCES
• CONCLUSION

REFERENCES

CHAPTER ONE

1.0                                                    INTRODUCTION

1.1                                       BACKGROUND OF THE STUDY

In recent years, robotics is a current emerging technology in the field of science. A

number of universities in the world are developing new things in this field. Robotics is the new booming field, which will be of great use to society in the coming years.

Though robots can be a replacement to humans, they still need to be controlled by humans itself. Robots can be wired or wireless, both having a controller device.

Both have pros and cons associated with them. Beyond controlling the robotic system through physical devices, recent method of gesture control has become very popular. The main purpose of using gestures is that it provides a more natural way of controlling and provides a rich and intuitive form of interaction with the robotic system. These days many types of wireless robots are being developed and are put to varied applications and uses.

Today, robot is a machine that is usually designed to reduce the amount of human work where it is applicable. It is normally developed for reducing risk factor for human work and increase comfort of any workers [1]. Robotics has greatly advanced in the developed countries.

The history of line follower automation is characterized by periods of rapid change in automation techniques. Either as a cause or, perhaps, an effect, such periods of change in automation techniques seem closely tied to the world economics. The use of a line follower robot became an identifiable and a unique device in the 1960s due to the efforts of Joseph Engelberger, George Devol who formed the robotic company called “unimation” characterized the latest trend in the automation of the manufacturing process.

This thesis focuses on the control of the most important form of the line robot, the mechanical manipulator with two degrees of freedom using an Arduino    ATmega 328 microcontroller as the “heart “of the control system. The manipulator is controlled by four 12-V D.C motors for wheels, arm and the gripper movements. The base motors controls the rotation of the wheels, arm motor controls the raising of the arm in the vertical plane and the gripper motor controls the opening and closing of the gripper. The gripper D.C motor used is coupled to the gripper via gear designed from aluminum sheets.

By and large, the study of mechanics and control mechanical engineering contributes knowledge of manipulators is not a new science but a collection of concepts taken from “classical” fields. Mathematics supplies the tools for describing actual directions and other attributes of manipulators. Control theory provides the tools for designing and evaluating algorithms to realize desired directions or force applications. Electrical engineering techniques are brought to bear in the design of sensors and interfaces for line follower robots and computer science concentrated on repetitive and hazardous applications.

The robot are well suited for doing repetitive jobs that must be done in manufacturing plants, which require a person to act like a machine. The job may be is to pick and place an item for a number of times to complete the manufacture of products. A robot placed at such a situation can perform the job at the same rate without experiencing fatigue and boredom normally associated with such jobs. Jobs are considered hazardous because of the toxic fumes, the weight of the material being handled or the danger of working in an environment containing high levels of radiation.

Line follower robots are being used throughout the America, Asia, Australia, Europe and other cited by National robot Associations (2017). Approximate distribution by location is as follows by 2016/2017.

The line follower robot is one of the self- operating mobile machines that follow a line drawn on the floor. The path could be visible a black line on a white surface or a white line on a black surface. It is designed to follow a line or path already predetermined by the user of the highway road, accidents due to careless driving of drivers found a major social problem.

It can reduce the chance of accidents to a great extent and it quite economical for transportation. From the industrial point of view, line following robot has been implemented in semi to fully autonomous plants. In this environment, these robots function as material carrier to deliver products from one manufacturing point to another where rail, conveyor and gantry solution are not possible. The basic operation of  line follower robot are to detect line color (black or white) by using infrared sensor and send the sensing signal to microcontroller. The microcontroller controls the motor driver to move the direction of robot car forward, left or right.

1.2           Problem Statement

People are unwilling to work, because the kind of job to be done is repetitive. Although, a variety of line follower robots that principally are analogue/digital exist, there is a need to develop a robot that is more accurate, efficient and less expensive in terms of components used in designing and fabrication. Where, while designing and fabricating, a new knowledge on how to make robot will be enhanced.

1.3      Aim and Objectives of the study

The main aim of this study is to design and fabricate a line follower robot that is able to moves left, right and forward direction on the black line of white surface by using four simple DC motors attached with four wheels. The objectives of the work are:

1. To develop the program of arduino
2. To build and test a proto- type of the line follower robot that is able to;

• Coordinate and follow the
• Proximity sense and stop when there is an obstacle at the front.

1.4           Scope Of The Study

This work covers building a line following robot using Arduino nano microcontroller as a main component and consists of three infrared (IR) sensors, four simple DC motors, four wheels and a frame of robot chassis. The Arduino nano is used as a controller to control the speed of DC motors from the L2953D driver circuit. A drive motor to provide an arm with two degrees of freedom is required. Among the materials, aluminum sheet has be used to make body part and for upward movement. Downward movement of the arm will be enabled by use of a manual switch and bolts for fixing various part of the arm. These materials will easily and cheaply fabricate autonomous robot and Since there is very little information available on these materials, the arduino ATmega328 microcontroller and dual L298N motor driver carrier which switches clockwise or anticlockwise to enable forward and backward movement has been investigated and optimized for autonomous robot applications.