UNIVERSITI TEKNOLOGI MALAYSIA
Contents
1. End Sub Private Sub btn9 L_Click_1 ByVal sender As System Object ByVal e As System EventArgs Handles FowardMov Click command for forward direction If transmitt 1 Then COMport Write e End If End Sub Private Sub btn9 R_Click ByVal sender As System Object ByVal e As System EventArgs Handles BackwardMov Click command for backward direction If transmitt 1 Then COMport Write 1 End If End Sub Private Sub btni8 L_Click ByVal sender As System Object ByVal e As System EventArgs Handles LeftMov Click command for left direction If transmitt 1 Then COMport Write 3 End If End Sub Private Sub btni8 R_Click ByVal sender As System Object ByVal e As System EventArgs Handles RightMov Click command for right direction If transmitt 1 Then COMport Write 2 End If End Sub Private Sub Label1_Click sender As System Object e As System EventArgs Handles Label1 Click End Sub Private Sub btnsearch_Click ByVal sender As System Object ByVal e As System EventArgs Handles btnsearch Click searching for available comport cbcom Items Clear For i As Integer To My Computer Ports SerialPortNames Count 1 cbcom Items Add My Computer Ports SerialPortNames i Next End Sub Private Sub btnconnect_Click ByVal sender As System Object ByVal e As System EventArgs Handles btnconnect Click btnconnect Enabled False btnsearch Enabled False COMport PortName cbcom Text COMport BaudRate 19200 COMport Dat2. Cube Servo G15 Cube OV gt Microcontroller gt Motor Driver gt Servo fi Power Supply 12V Figure 3 8 Block diagram of circuit connection 3 2 2 1 Main Board Circuit Arduino Uno microcontroller board as shown in Figure 3 9 is used as the main board which acts as a brain of the Spherical Mobile Robot This microcontroller board is based on the ATmega328 as the main controller to control the hardware performance 32 This microcontroller board can simply connect to a computer with USB cable in order to program the robot It also consist of power jack which is use to connect with a power supply with AC to DC adapter or battery 14 Input output pin USB connection ATmega328 microcontroller Power jack 6 Analog inputs Figure 3 9 Arduino Uno board 3 2 2 2 Cube Servo Motor Driver G15 Shield is used as cube servo motor driver in order to control the G15 cube servo Figure 3 10 shows the hardware connection between Arduino Uno and G15 Shield It is simply stacking up the shield onto the main board The EXT_MPWR connector is used to connect with power supply for servo motor to operate It is required to solder EXT pad and MPWR pad together on MPWR_SEL for external motor power Only one of the G15 cube servo ports is used to connect with the servo motor 33 EE _ L n Figure 3 10 G15 Shield setup 3 2 2 3 G15 Cube Servo G15 Cube servo motor as shown in Figure
3. The Arduino IDE comes with a C C library called Wiring which make common input output operation much easier and Arduino program are written in C C language 2 4 Wireless Communication System Wireless communication is where information can be transferred between two or more points that are not connected by an electrical conductor or wires 4 Basically wireless would be referring to a dual purpose transmitter and receiver device It is also refer to any type of operation that is implemented without using of wires such as wireless remote control The distances that could be involved maybe short or very long Wireless communication can be via radio frequency microwave communication Bluetooth communication and etc 2 4 1 BluBee BlueBee Figure 2 4 is Bluetooth wireless modules that have been developed by a company called Cytron Technologies This module provides users a wirelessly remote 12 control on their microcontroller circuit through serial port communication services It is suitable for any type of microcontroller system that has 3 3V power output BlueBee consist of two mode of operation which is AT mode and Transmit mode The AT mode is used to set the control parameters and send control order The baud rate for this mode is 38400bps only While Transmit mode is used to transfer or receive signal or data to other Bluetooth devices Figure 2 4 BlueBee module The BlueBee module is comes with an on board antenna
4. drawbacks to the design The mechanical design of this robot will be very complex and the controls to coordinate the masses are complicated as well High power of actuators is needed for the masses rapidly reciprocate along their axes in order to roll quickly in a straight line Thus this makes it very inefficient 2 5 4 Deformable Body Spherical mobile robot with this concept design will deforms its normally spherical shape in order to propel itself A deformable sphere can control the position of its center of mass relative to where the sphere contacts the ground by continuously altering its shape Koharo robot is one of the robots that used this type of concept design This robot was developed from Ritsumeikan University in Japan This robot is consisting of a wheel and a sphere with flexible outer structures and shape memory alloy SMA actuators 11 The outer structure of the wheel or sphere can be deformed to cause it to roll by contracting and expanding the SMA wires in coordination The wheel is a flexible ring with radial SMA spokes as shown in Figure 2 10 a 0s b 2s c 4s d 6s Figure 2 10 Deformable wheel rolling Video snapshots of the wheel rolling over a period of 6 second The disadvantage of this concept design is that the motion of the wheel and sphere is very slow since the cycle rate of the SMA actuators is also very slow Besides that the power source is external and the prototype has to be tethe
5. fellow friends should also be recognized for their continual encouragement and support My sincere appreciation also extends to my entire course mates who have provided assistance at various occasions The views and tips are very useful indeed I am also indebted to University Teknologi Malaysia UTM particularly Faculty of Electrical Engineering FKE for their assistance in carrying out my project and provide accommodations to fulfill the objectives of this project ABSTRACT Rolling is a way of moving and it provides moving in any direction If we can control the movement direction and speed of a rolling object then we can move the object anywhere with any speed These capabilities are an advantage for a mobile robot that can move in such a way In this project a spherical mobile robot will be developed This robot consists of a spherical structure the motion control system and the computer program in a PC as the main controller This robot has several advantages First this spherical robot can easily recover from collision with obstacles due to its shape Second the body of the spherical robot will protect internal circuitry and inner structure from having external shocks or dust Besides that spherical structure will allow the motion in tightly constrained spaces Finally this robot has minimal friction due to minimal contact point with the ground leading to low energy motion The motion control system of this spherical robot is fully co
6. mechanism that either change their center of gravity or generate a force to make the robot roll in its outer shell While the term Omni directionally means that there can be motion in any direction regardless of the robot s orientation The main goal of this project is to design a fully functioning mobile robot that is Omni directional and also a spherical in shape These two ideas come together very well in the sense that spheres are Omni directional in shape and the moment of inertia about any axis within a ball is the same In order to archive the desired motion several goals must be met In this spherical mobile robot construction the mechanical design of drive system must be considered as main part for it to perform the task properly and reliable This spherical mobile robot will be controlled wirelessly using Bluetooth module from computer to microcontroller Graphical User Interface GUI will develop to encompass the control for the robot Moreover the brain for this robot lies in the microcontroller system which controls every reaction and behavior of the robot With little modifications and improvements an Omni directional spherical mobile robot can be used for surveillance navigation piloting sensing and to carry out operation in hostile environments It also can be added higher level of intelligence through senses as the mission in working environment cannot be exactly preplanned 1 2 Problem Statement The problem
7. method is possible to build a fully omnidirectional hamster ball design by using an internal car with omnidirectional wheels The disadvantages of this hamster ball concept are that the internal surface of the spherical shell needs to be uniform and smooth in order for the drive wheels to function well In addition the wheels must maintain constant with the surface shell at all times because there is a friction between its wheels and the sphere Moreover the internal car may lose contact or even flip over if there is collision or impact with obstacles 17 2 5 2 Pendulum Driven Simple spherical mobile robot can be developed using a pendulum based design This type of method of construction is typically has a main drive shaft fixed to the spherical case and an offset mass hanging from the drive shaft The spherical mobile robot will move forward when a torque is applied between pendulum and the drive shaft The spherical mobile robot also can steer if the pendulum is tilted to the side which causing the main drive shaft to form an angle with the ground Figure 2 7 shows the concept method of pendulum drive a Side view with b Side view with pendulum pendulum rotate up for tilted to the side for driving forward steering movement Figure 2 7 Pendulum Driven Concept Groundbot robot is one of the spherical mobile robot that have been used this type of constructing method It was developed by a Swedish company Rotundus 8 The ap
8. rigid and smooth 4 5 Summary This chapter has discussed about the testing and experiment analysis being done on the Spherical Mobile Robot Firstly is about the functionality and efficiency of the communication system It shows that the robot able to communicate wirelessly with a computer Secondly is about the functionality of the GUI development GUI is an attractive control system and easy to use All the button function in the GUI design is working properly as expected Lastly is about overall testing of the Spherical Mobile Robot movement The robot is able to move omnidirectional where it can move in any direction CHAPTER 5 CONCLUSION 5 1 Conclusion Generally this project has achieved the basic objective and scope as discussed in chapter one This spherical Mobile Robot can be move omnidirectional where it can move in any direction to the target positions Besides that this robot can be controlled wirelessly from a computer through Bluetooth device Moreover Graphical User Interface has been successfully developed as a controller system for the robot As a conclusion this project is successfully designed implemented and tested This undergraduate project have given the author opportunity to acquire the knowledge and experience in designing a mobile robot this also enhances my understanding towards hardware and software interfacing for a mechatronic system For the next robot development it is hoped that this Spherical Mob
9. which provides a better signal quality It is act like a transparent serial port that will work with variety of Bluetooth adapter BlueBee is a slave module which means communication among two Bluebee is not possible 5 BlueBee module is consisting of 20 pins but only 9 pin is available Table 2 2 shows the functional pin and their description Besides that Table 2 3 will show the absolute maximum rating of Bluebee module parameters 13 Table2 2 BlueBee pin function Pin Name Description 1 3V3 3 3V supply for BlueBee module 2 TXD UART Data output 3 RXD UART Data input 5 RESET Reset for BlueBee module 6 P9 Connection indicator High Connected Low No connection 8 P8 LED Mode indicator connected the BlueBee status LED 10 GND Ground port 12 CTS UART clear to send active low 16 RTS UART request to send active low Table 2 3 BlueBee absolute maximum rating Symbol Parameter Min Max Unit 3 3 Operating voltage 3 0 3 6 V RX Receiver pin of BlueBee module 0 3 3 V TX Transmit pin of BlueBee module 0 3 3 V Reset Reset pin of BlueBee module 0 3 3 V GND Ground 0 0 V 14 2 5 Researches on Spherical Mobile Robot Worldwide The term spherical robot is used to describe two very different types of robots Firstly spherical robot is a robot arm that forms a spherical coordinate system with two rotary joints and one prismatic joint The term spherical
10. 0 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA servol SetLED OFF iWRITE_DATA delay 1000 else if pos 3 move right direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position servo2 SetLED OFF iWRITE_DATA delay 1000 servol SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA go to 150 degree position delay 1000 servo1 SetSpeed 400 iWRITE_DATA servol SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servol SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpee
11. 3 11 was used as driving mechanism to move the spherical mobile robot in any direction Two servo motor is needed to make a movement at which both of them is attached together One of the servos is used to change the direction of movement while the other one is used to change the center of mass of the Spherical Mobile Robot that makes it roll in its outer shell 34 Figure 3 11 G15 Cube Servo G15 Cube Servo is a modular smart serial servo which incorporates gear reducer precision high torque DC motor and control circuitry with networking functionality It is made with high quality engineering plastic to provide high necessary strength and can sustain high external force G15 provides 360 degree endless turn control with resolution up to 0 33 G15 Cube servo has an output connect output shaft on one surface and specially designed slide fit latch on 5 other surfaces The operating voltage of this cube servo and its current is 6 5 12V and 1 5A max at 12V respectively While it speed is 60RPM no load at 12V Two G15 cube servo is connected in daisy chain connection to create a servo on a single line at which these servos then connected with G15 shield It can be shown in Figure 3 12 G15 cube servo is consisting of three terminals which are GND V and DATA 35 Figure 3 12 Daisy chain connection 3 2 2 4 SKXbee Board and Blubee SKXbee board is a starter kit for wireless communication module It is used with Bluebee i
12. DATA servol SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servol SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servol SetSpeed 600 iWRITE_DATA servol SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servol SetSpeed 400 iWRITE_DATA servol SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servol SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA servol SetLED OFF iWRITE_DATA delay 1000 else if pos 1 move backward command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 3 iWRITE_DATA go to 3 degree position servo2 SetLED OFF iWRITE_DATA delay 1000 servol SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA go to 150 degree position delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position delay 1000 continue moving 5 times servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetS
13. PSZ 19 16 Pind 1 07 UNIVERSITI TEKNOLOGI MALAYSIA DECLARATION OF THESIS UNDERGRADUATE PROJECT PAPER AND COPYRIGHT MUHAMAD ZAMIR BIN ABU KASSIM Author s full name Date of birth _23 JANUARY 199000 Title SPHERICAL MOBILE ROBOT WITH OMNIDIRECTIONAL MOVEMENT 2012 2013 2 Academic Session declare that this thesis is classified as CONFIDENTIAL Contains confidential information under the Official Secret Act 1972 RESTRICTED Contains restricted information as specified by the organisation where research was done OPEN ACCESS agree that my thesis to be published as online open access full text acknowledged that Universiti Teknologi Malaysia reserves the right as follows The thesis is the property of Universiti Teknologi Malaysia The Library of Universiti Teknologi Malaysia has the right to make copies for the purpose of research only The Library has the right to make copies of the thesis for academic exchange Certified by SIGNATURE SIGNATURE OF SUPERVISOR 900123 10 5317 AHMAD RIDHWAN BIN WAHAP NEW IC NO PASSPORT NO NAME OF SUPERVISOR Date 23 JUNE 2013 Date 23 JUNE 2013 NOTES if the thesis is CONFIDENTIAL or RESTRICTED please attach with the letter from the organization with period and reasons for confidentiality or restriction T hereby declare that I have read this thesis and in my opinion this thesis is sufficient in terms of scope and quality for the
14. Qazvin Iran Research report Sugiyama Y amp Hirai S Crawling and Jumping by a Deformable Robot International Journal of Robotics Research Vol 25 No 5 6 pp 603 620 2006 Nakamura T 2002 Hikaru HALO SONY ga kyungata no robotto QTARO wo kaihatu IT media news Japanese URL http www itmedia co jp news 0203 27 qtaro html F Michaud J Lafontaine and Serge Caron 2001 A spherical robot for planetary surface exploration in Proc 6 International Symposium on Artificial Intelligence Robotics and Automation in Space 2001 Young K 2006 Spherical micro robots could explore Mars NewScientist com news service URL http space newscientist com article dn9610 spherical microrobots could explore mars html APPENDIX A Source Code of Visual Basic created by Muhamad Zamir Bin Abu Kassim Control Spherical Mobile Robot with Visual Basic 2013 Imports System I0O Imports System 1I0 Ports Imports System Threading Public Class Form1 Dim COMport As New SerialPort Dim transmitt As Integer Private Sub Form1_Load ByVal sender As System Object ByVal e As System EventArgs Handles MyBase Load For i As Integer To My Computer Ports SerialPortNames Count 1 cbcom Items Add My Computer Ports SerialPortNames i Next cbcom Text cbcom Items Item btndisconnect Enabled False FowardMov Enabled False BackwardMov Enabled False LeftMov Enabled False RightMov Enabled False
15. Speed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA servol SetLED OFF iWRITE_DATA delay 1000 else if pos 5 move upper right direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 135 iWRITE_DATA go to 135 degree position servo2 SetLED OFF iWRITE_DATA delay 1000 servol SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA go to 30 degree position delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 ser
16. When one of the components is click code of the window will appear as shown in Figure 3 20 Then writing a program can be done under the Private Sub start and End Sub end Private Sub Button4_Click ByVal sender As System Object ByVal e As System E If transmitt 1 Then COMport Write 6 End If End Sub ByVal e As System Even If transmitt 1 Then COMport Write 5 End If End Sub Private Sub PictureBox2_Click ByVal sender As System Object ByVal e As System End ls End Class Add Statement here Figure 3 20 Program writing in Visual Basic 43 3 8 Summary As a summary of this chapter hardware design software design and GUI development have been discussed in detail In hardware design mechanical and electrical design that is used in construction the Spherical Mobile Robot has explained While process of writing and download program of microcontroller board had been discuss under software design Lastly for GUI development it is all about the designing of the control system of the Spherical Mobile Robot CHAPTER 4 RESULT AND DISCUSSION 4 1 Introduction This chapter will discuss about the experimental result and analysis that have been carried out which is about the movement of the Spherical Mobile Robot It is consisting of the functionality of the Spherical Mobile Robot at which three tests has been conduct efficiency test of communication system efficiency test on the GUI and overall movement test
17. aBits 8 COMport Parity Parity None COMport StopBits StopBits One COMport WriteTimeout 1000 COMport ReadTimeout 1000 Try COMport Open FowardMov Enabled True BackwardMov Enabled True LeftMov Enabled True RightMov Enabled True btnconnect Enabled False btndisconnect Enabled True transmitt 1 txtcom Text COMport PortName amp is connected Catch ex As Exception COMport Close MsgBox The choosen COM port is not available txtcom Text Please choose other COM ports btnsearch Enabled True btnconnect Enabled True btndisconnect Enabled False FowardMov Enabled False BackwardMov Enabled False LeftMov Enabled False RightMov Enabled False End Try End Sub Private Sub btndisconnect_Click ByVal sender As System Object ByVal System EventArgs Handles btndisconnect Click COMport Close btnsearch Enabled True btndisconnect Enabled False btnconnect Enabled True FowardMov Enabled False BackwardMov Enabled False LeftMov Enabled False RightMov Enabled False transmitt txtcom Text COMport PortName amp is disconnected End Sub e As Private Sub cbcom_SelectedValueChanged ByVal sender As System Object ByVal e As System EventArgs Handles cbcom SelectedValueChanged If COMport IsOpen True Then If String Compare cbcom Text COMport PortName Then MsgBox Change COM while connected is not allowed cbcom Text COMport PortName End If End If End Sub Priv
18. al Mobile Robot is showed in Figure 3 14 Desire robot movement Writing Program B Compile the program Download to the microcontroller Test the robot movement Figure 3 14 Process flow of writing software 38 3 3 1 Program Download Arduino IDE Integrated Development Environment software as shown in Figure 3 15 is used to program the Spherical Mobile Robot This software will used C language to write a program Before the program is uploaded into the microcontroller using USB cable first thing need to be done is selecting the Arduino board and the selected USB port This can be illustrated in Figure 3 16 After that the program that have been wrote can be compile to check whether the code is correct or not before it is uploaded to Arduino microcontroller board Once the data has been uploaded to the board successfully it will get Done Uploading message in the IDE and the RX TX LED s on the Arduino Uno board will stop flashing Positioning Arduino 1 0 2 File Edit Sketch Tools Help Positioning init e th rduin GiSShieldinit 19200 3 8 1 the servol init servyo2 init init ED in a r 5 outp pinMode LED_BOARD OUTPUT digitelVraite LED BOARD LOW jelLey 500 digitalWrice LED BOARD HIGH void loop servol SetLED 0N iWRITE_DATA Figure 3 15 Writing program by Arduino IDE software 39 Tools Help Tools Help Auto Format CtileT Agius Auto Format Ctrl T Archi
19. ami hentakan luaran atau habuk Selain itu struktur sfera akan membenarkan pergerakan di kawasan yg sempit Akhir sekali robot ini mempunyanyi geseran minima disebabkan titik sentuhan yg minimum dengan lantai maka ia membawa kepada pergerakan tenaga rendah Sistem kawalan gerakan robot ini sepenuhnya di bina dalam tubuh sfera Sistem kawalan dibina berdasarkan mikropengawal Arduino Uno Mobiliti robot sfera adalah dengan mengganggu keseimbangan sistem dengan menyesarkan pusat graviti robot Ini dilakukan dengan memindahkan beban yg terdapat di penghujung servo yang akan mengubah pusat graviti robot dengan menghasilkan tork lalu mencipta gerakan putaran Robot sfera dikawal melalui komputer secara tanpa wayar melalui Bluetooh Untuk mengawal pergerakan robot Antaramuka Pengguna Grafikal telah dibangunkan Robot sfera ini boleh bergerak pelbagai arah yang membawa maksud ia boleh bergerak ke mana mana arah yg ingin dituju CHAPTER CONTENT TITLE DECLARATION DEDICATION ACKNOWLEDGEMENT ABSTRACT ABSTRAK TABLE OF CONTENT LIST OF TABLE LIST OF FIGURE LIST OF SYMBOL AND ABBREVIATIONS LIST OF APPENDICES INTRODUCTION 1 1 Project Background 1 2 Problem Statement 1 3 Project Objective 1 4 Project Scope 1 5 Thesis Layout THEORY AND LITERATURE REVIEWS 2 1 Introduction D2 Servo Motor 2 3 Microcontroller vii PAGE ii iii iv vi vii xi xiv XV RW U N e 2 3 1 Arduino Microcontroller 2 4 Wireless Communic
20. ate Sub PictureBox1_Click ByVal sender As System Object ByVal e System EventArgs Handles PictureBox1 Click End Sub Private Sub Button2_Click ByVal sender As System Object ByVal e As Handles Button2 Click command for lower right direction If transmitt 1 Then COMport Write 7 End If End Sub Private Sub Button3_Click ByVal sender As System Object ByVal e As Handles Button3 Click command for upper left direction If transmitt 1 Then COMport Write 4 End If End Sub Private Sub Button4_Click ByVal sender As System Object ByVal e As Handles Button4 Click command for lower left direction If transmitt 1 Then COMport Write 6 End If End Sub Private Sub Button5 Click ByVal sender As System Object ByVal e As Handles Button5 Click command for upper right direction If transmitt 1 Then COMport Write 5 End If End Sub End Clas As System System System System EventArgs EventArgs EventArgs EventArgs Source Code of Spherical Mobile Robot include lt G15 h gt include the library define LED_ BOARD 13 G15 servo1 1 G15 servo2 2 declare G15 Class Object servo1 ID and servo2 ID2 void setup initialize the arduino main board s serial UART and control pins G15ShieldInit 19200 3 8 servol init servo2 init call the init function to init servo obj pinMode LED_BOARD OUTPUT init LED indicator as output digitalWrite LED_ BOARD LOW delay 500 digitalW
21. ation System 2 4 1 BlueBee 2 5 Research on Spherical Mobile Robot Worldwide 2 5 1 Hamster Ball 2 5 2 Pendulum Driven 2 5 3 Multiple Mass Shifting 2 5 4 Deformable Body 2 5 6 Commercialized Spherical Mobile Robot 2 6 Summary SYSTEM DESIGN 3 1 Introduction 3 2 Hardware Design 3 2 1 Mechanical Design 3 2 2 Electronic Design 3 3 Software Design 3 3 1 Program Download 3 4 Graphical User Interface Development 3 4 1 GUI Design 3 4 2 Writing Program 3 5 Summary RESULT AND DISCUSSION 4 1 Introduction 4 2 Efficiency Test on Wireless Communication System 4 3 Efficiency Test on GUI 4 4 Overall Movement Test of Spherical Mobile Robot 4 5 Summary 11 11 14 14 17 19 20 21 23 24 24 26 31 37 38 39 40 42 43 44 44 47 49 53 viii CONCLUSION 5 1 Conclusion 5 2 Project Limitations 5 3 Suggestion and Future Development REFERENCES APPENDICES 54 55 55 56 58 TABLE NO 2 1 22 2 3 LIST OF TABLES TITLE Arduino board models BlueBee pin function BlueBee absolute maximum rating PAGE 10 13 13 LIST OF FIGURE FIGURE NO TITLE 2 1 22 2 3 2 4 2 3 2 6 2 7 2 8 2 9 2 10 2 11 Servo motor structure Pulse Width Modulation signal Duration of pulse dictates the angle of output shaft BlueBee module Hamster ball concept Rollo Prototype a 2 Prototype b 1 Prototype Pendulum driven concept Groundbot Rotundus Spherobot Design a and Augus
22. award of the degree of Bachelor of Engineering Electric Mechatronic Signature Name of Supervisor AHMAD RIDHWAN BIN WAHAP Date 23 JUNE 2013 SPHERICAL MOBILE ROBOT WITH OMNIDIRECTIONAL MOVEMENT MUHAMAD ZAMIR BIN ABU KASSIM A thesis submitted in fulfillment of the requirements for the award of the degree of Bachelor of Engineering Electrical Mechatronics Faculty of Electrical Engineering University Teknologi Malaysia JUNE 2013 DECLARATION I declare that this thesis is entitled Spherical Mobile Robot with Omnidirectional Movement is the result of my own research except as cited in the references The thesis has not been accepted for any degree and is not concurrently submitted in candidature of any other degree Signature cle Name MUHAMAD ZAMIR BIN ABU KASSIM Date 23 JUNE 2013 Specially to my family beloved parents siblings friends for their eternal support encouragement and inspiration throughout my journey of education ACKNOWLEDGEMENT I would like to give my sincere appreciation to my supervisor Mr Ahmad Ridhwan Bin Wahap for the encouragement advices and guidance that have led to the success of this project I would also like to take this opportunity to express my deepest grateful appreciation to my family member who always gives fully moral support and advice for me The support from my family makes me more confident in doing this final year project My
23. ble a hamster inside the hamster ball The sphere will start to roll forward when the car begin to drive up the inside surface of sphere The car can have variety of well known steering mechanism such as 4 wheel 3 wheel or front wheel steering as well This is because directional control of the sphere is maintained by driving internal car in the desired direction The Rollo robot is one of the spherical mobile robots that have used this kind of principle It was develop by a team from Helsinki University of Technology Finland 6 They have made two prototypes where first prototype used the sprung central member method design while the second prototype of Rollo robot used a unique design that was a combination of sprung central member and the internal car mechanisms as shown in Figure 2 6 Besides that this method also has been developed 16 by Bicchi He has introduces a spherical vehicle consisting of a hollow sphere with a small car resting on the bottom 7 Figure 2 6 Rollo Prototype a a Prototype b 1 Prototype The hamster ball concept has several advantages and disadvantages The advantages of this concept design for both sprung central member and internal car driven is they locate the majority of their mass close to the surface of the spherical shell which maximize the motion of rolling performance The design of the spherical robot is much simple and their drive mechanisms are straightforward to handle Besides that this
24. can be programmed as an input or output or even switch during the running of a program In addition most microcontrollers will have circuitry to generate the system clock This square wave is the heartbeat of the microcontroller and all operations are synchronized to it Obviously it controls the speed at which the microcontroller functions All that needed to complete the clock circuit would be a crystal or RC component Therefore we can precisely select the operating speed critical to many applications To summarize a microcontroller contains two or more of the following elements in order of importance 2 i Instruction set ii RAM ili ROM PROM or EPROM iv TO ports v Clock generator vi Reset function vii Watchdog timer viii Serial port ix Interrupts x Timers xi Analog to digital converters xii Digital to analog converters 2 3 1 Arduino Microcontroller Arduino can be defined as a tiny computer that can program to process input and output going to and from the chip 3 It is an open source physical computing platform based on a simple microcontroller board It is an interactive system that through the use of hardware and software that can interact with its environment An Arduino board is 10 made of an 8 bit Atmel AVR microcontroller 16MHz crystal oscillator and 5 volt linear regulator input output pin Some of them come out with USB connector that enables it to connect with a computer Official Arduinos hav
25. d 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servol SetPos ConvertAngle2Pos 90 iWRITE_DATA servo1 SetLED OFF iWRITE_DATA delay 1000 else if pos 4 move upper left direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 45 iWRITE_DATA go to 45 degree position servo2 SetLED OFF iWRITE_DATA delay 1000 servo1 SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA go to 30 degree position delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 Set
26. e 4 6 shows that the Spherical Mobile Robot is able to move left and right direction From the observation it showed that the time taken for the robot to start moving is much longer than the first experiment which is moving forward and backward This is because the robot need to change the position angle of the two servos compared to first test which is required only one servo The same problem also occurred at which the internal structure of the robot is stuck at the joining part of spherical shape This is because the joining part is not fixed really tight and material of the spherical shell is not solid enough thus causing it to deform its shape due to the weight of the internal structure Therefore the robot has some difficulty to move smoothly to the desired location Besides that Spherical Mobile Robot also has been tested for other four type of movement as illustrate in Figure 4 7 Figure 4 7 Four different movement Based on experiment that has been conducted for this type of movements it can be observed that the robot is able to move in such way This is because of the robot structure which is spherical in shaped There is some problem while the robot is 53 moving The robot cannot be able to maintain their direction of movement due to instability of the internal structure As summarize Spherical Mobile Robot is able to move in any direction omnidirectional but its need some modification so that this robot became more stable
27. e three items will be used in the project Besides that this chapter will discuss about some of related work of spherical mobile robot on method of constructing the robot that have been done by the previous researchers and some commercialized spherical mobile robot 2 2 Servo Motor A servo motor is a rotary actuator which produces a rotary motion or torque that allows for precise control of angular position 1 Basically servo motor consists of motor such as dc ac or brushless dc motor combined with sensor for position feedback It is also consist of an output shaft where this shaft can be positioned to specific angular positions by sending the servo a code signal As long as the coded signal exists on the input line the servo will maintain the angular position of the shaft The angular position of the shaft will be changes if the code signal is changes Figure 2 1 will shows the basic component that have in the servo case Output Spline Ne Drive Gears oo Servo Case Control Circuit Potentiometer Figure 2 1 Servo motor structure In the servos even though the motor is very small it is pretty strong for its size which it built in control circuitry The servos are controlled by sending a pulse of variable width to them The control wire will used in order to send the pulse The parameters for the pulse are minimum pulse maximum pulse and repetition rate Generally the minimum pulse will be about one millisecond wide while fo
28. e used the megaAVR series of chips such as ATmega8 ATmegal68 ATmega328 ATmegal280 and ATmega2560 Arduino can also be connected to the variety of interchangeable add on modules which known as shield in order to get extra functionality such as GPS receiver LCD display and ethereal connections Besides that an arduino s microcontroller is also pre programmed with a boot loader that simplifies uploading of programs to the on chip flash memory compared with other device that need an external programmer There are many types of Arduino board model that have been commercially produced such as Arduino Uno Mega Leonardo Duemilanove Mini and Nano All these type of Arduino hardware have different features as shown in Table 2 1 Table 2 1 Arduino board models Arduino Processor Flash EEPROM SRAM Digital With Analog kB kB kB T O PWM w pea a a e me ma a ae Pomo aaj a a a ae Duemilanove ATmega128 or 16 32 0 5 1 1 2 14 ATmega328P ATmegal68 or 16 32 0 5 1 1 2 14 ATmega328 11 The Arduino IDE Integrated Development Environment is used in order to program the Arduino board It is a cross platform application written in Java and is derived from IDE for the Processing program language and the Wiring project Its include codes editor with features such as syntax highlighting brace matching and automatic indentation Besides that it also capable of compiling and uploading programs to the board with only a single click
29. er that the functionality of the control panel button is tested The control panel box in GUI platform is consist of eight button which represent the direction that Spherical Mobile Robot can move to desired location So the test has been conducted as shown in Figure 4 4 Figure 4 4 Control position of GUI test 49 The result shows four basic movement of the Spherical Mobile Robot that has been controlled by a computer which interfaces with GUI When button 1 in the control panel box is clicked the servo is moved in forward direction as shown in Figure 4 4 a Then the servo is moved in backward direction Figure 4 4b when button 2 is clicked The Spherical Mobile Robot will moved to the left Figure 4 4c and to the right direction Figure 4 4d when button 3 and 4 is clicked respectively Besides this four buttons another four buttons also have been tested and as results the robot is able to communicate and react to move in the correct direction as programmed As summarize the GUI development is successfully worked as expected This GUI is able to communicate and easily controlled the movement of Spherical Mobile Robot It is quite efficient because it is able to communicate wirelessly via Bluetooth device 4 4 Overall Movement Test of Spherical Mobile Robot Overall movement test of Spherical Mobile Robot need to be conducted based on the main objectives of the project which is to build a Spherical Mobile Robot with omnidirect
30. ic 3 2 Hardware Design Driving mechanism is very important and need to be considerate in order to make the spherical mobile robot moved Omni directionally and perform the task properly and reliable Before designing the robot structure it is very important to 25 choose the suitable concept of locomotion principle After studied the related references the best way to make the spherical mobile robot roll in its outer shell is by a mechanism that will change the center of gravity or generating a force to the robot This can be illustrate in Figure 3 1 Figure 3 1 Principle of Locomotion Based on this principle spherical mobile robot will generate motion by using a center of mass displacement When the center of mass is displaced a horizontal distance from the center of the sphere the force due to gravity will creates a moment on the sphere causing it to roll In this project the input torque of the servo motor will transferred to the center of shaft which is connected to the mass and this moves the center of gravity 26 3 2 1 Mechanical Design The Spherical Mobile Robot was built based on several mechanical components There is outer spherical shell body roll castor servomotor U joint connector and rotary connector For the body it is built from acrylic sheet and aluminum rods Before the actual robot is built the internal structure of the Spherical Mobile Robot was designed as shown in Figure 3 2 From the desig
31. ile Robot can be reconstructed with some modification to improve the abilities and to provide benefits in the feature also be able to be marketed and commercialized 55 5 2 Project Limitations One of the limitations of this Spherical Mobile Robot is that it would not be able to roll on slopes This is due to its spherical structure It will roll down to the lowest level automatically without giving any command to it to move in such way when this robot is being place on slopes Besides that this Spherical Mobile Robot would not be able to climb up a very steep slope This is because the input torque of the servo motor not has enough strength to drive the robot and carried the weight 5 3 Suggestion and Future Development The spherical outer shell for this mobile robot is made of clear plastic globe lamp which has been modified This type of shell is not quite strong to hold the internal structure of the robot Thus this has caused the shape of the spherical shell to deform For future development solid full sphere that made of good material can be used Besides that gyroscope accelerometer also can be used for the stability of the robot For further enhancement this Spherical Mobile Robot can be integrated with intelligence by adding some useful equipment For example the spherical mobile robot can be used to carry out tasks such as surveillance piloting sensing and carried out hostile environment if the robot is mounted with a camera a
32. ional movement In this test the movement of the robot will be observed and analyzed so that it would be able to identify the strength and weaknesses of the robot Firstly the test was conducted to analyze the ability of the robot to move forward and backward direction Figure 4 5 shows the result of the movement 50 b Backward Movement Figure 4 5 Robot move forward and backward direction Based on the results it shows that the Spherical Mobile Robot is able to move in forward and backward direction Based on the observation and analysis of the test the robot needs bigger momentum at the beginning which is required more speed of the servo s rotation With this momentum the internal structure of the robot is able to change their center of mass thus causing the robot to roll in its outer shell At a certain time the internal structure of the robot has difficulty to sustain its posture because the roller castor is stuck at the joining part of the outer spherical shell 51 Secondly experiment was conducted to identify the ability of the Spherical Mobile Robot to move left and right direction The results obtained are shown in Figure 4 6 sce TII SOO goose ae AKL L E Mx OODE a Left Movement ay lt gt OQO O OOO OAO D EEE xs eee eos KEX 2o COCO ILIA o SoS OEREO III LIII IT JOOVOO2OS CO EEEE EIE NNA b Right Movement Figure 4 6 Robot move left and right direction 52 Results in Figur
33. irection a Left movement b Right movement Four different movement 39 40 41 41 42 45 46 47 48 50 51 52 xiii xiv LIST OF SYMBOL AND ABBREVIATION EPROM Erasable Programmable Read Only Memory GUI Graphical User Interface IDE Integrated Development Environment IDU Inside Driving Unit VO Input and Output PROM Programmable Read Only Memory RAM Random Access Memory ROM Read Only Memory RXD Received Data SMA Shape Memory Alloy TXD Transmit Data APPENDIX A LIST OF APPENDICES TITLE Source Code for GUI Source Code for Spherical Mobile Robot PAGE 58 61 XV CHAPTER 1 INTRODUCTION 1 1 Project Background Nowadays robots have been proved to be useful tools in many different situations that are dangerous for humans or where physical access is very difficult However traditionally built robot that forms of surface based locomotion such as legged or wheeled would be unable to act or respond by things such as challenging terrain and damage from the unknown environment Besides that these robots will faced some problems such as difficult to continue motion in case where turning over occurred and hard to recover from collision when crashed with other robot Therefore one way to overcome these difficulties is by building a spherical mobile robot that can move Omni directionally Spherical mobile robot can be described as mobile robot that moves by a
34. l represent a screen element which used to display information and interact with the program It can simply drag the GUI components to a window surface or layout during the process of creating GUI platform as shown in Figure 3 18 Besides that it can be easily changed the specific size name background color design name and other properties due to own creativity and idea in Editing Properties Figure 3 19 shows the detail of the final GUI layout of this project New Project Installed Templates 5 a Win32 Console Application Visual Basic Visual C Visual C ATL CLR General MFC Test Win32 Visual Fe Other Project Types Database Test Projects Online Templates i MFC Application Win32 Project Empty Project ATL Project MFC DLL Windows Forms Application CLR Console Application CLR Empty Project Class Library Ed Lol el l BS El Lol Gol Ge Name Spherical Mobile Robot Location c users zamir ak documents visual studio 2010 Projects Solution name Spherical Mobile Robot Visual C Visual C Visual C Visual C Visual C Visual C Visual C Visual C Visual C Visual C Type Visual C A project for creating an application with Windows user interface Browse V Create directory for solution _ Add to source control ECM ie Figure 3 17 Creating project using Visual Basic 41 Form1 vb Formi vb Design X EGIL Too
35. lbox Toolbox GUI Platform se2unos eg a BindingNavigatol BindingSource Button soos CheckBox CheckedListBox ColorDialog ComboBox ContextMenuStrip DataGridView DataSet DateTimePicker DirectoryEntry Aaah ale DirectorySearcher DomainUpDown ErrorProvider Eventlog FileSystemWatcher FlowLayoutPanel SerialPort B Error List F Breakpoints Ready Editing Properties Figure 3 18 GUI components My Final Year Project Button E BM ones V C A Figure 3 19 GUI layout design 42 Based on Figure 3 19 GUI layout design is consist of six different GUI components which are GroupBox Label Text ComboBox ImageBox and Button In this layout it is divided into two GroupBox which is for control panel and COM port selection In control panel box it has eight buttons that representing eight different directions for the Spherical Mobile Robot movement While in COM port selection box consist of three buttons one ComboBox and a TextBox COM port form is needed to detect serial communication channel and connect that serial communication channel for communicate between a computer and the spherical mobile robot 3 4 2 Writing Program Microsoft Visual Basic 2010 is an object oriented and event driver programming language even all windows also are event driven It means that the user can decide their program flow by simply double click the component on the GUI platform
36. n the size of the internal structure of the robot needs to be considered so that it can suit with the outer spherical shell Figure 3 2 Spherical Mobile Robot design 27 1 Electronic platform part which consist of Arduino Uno cube servo motor driver and Bluetooth module G15 cube servo Main body of internal structure Roller castor U joint connector Weight Load a ea oe After the internal structure is completely designed the real Spherical Mobile Robot was constructed The outer shell of the spherical robot is made by two clear plastic lamp s globe as shown in Figure 3 3 at which these two globes is cut into hemisphere shape and combined it to form a spherical shape The size of this spherical globe is 12 inches of diameter Figure 3 3 Outer spherical shell The body of the internal structure of the Spherical Mobile Robot is constructed in a triangular shape and roller castor is placed at every edge of the shape so that it will give less friction between the internal structure and the outer spherical shell These 28 castors need to really fix with outer case and smooth enough so that this will maintain the internal structure thus make the outer shell to roll in desired location The structure of the body is shown in Figure 3 4 Figure 3 4 Body of internal structure Two cube servos is placed at the bottom of the internal structure s body at
37. n order to communicate wirelessly from a computer to microcontroller Blubee is plugged into the socket provided in the SKXbee board Then it is interfaced with the main board which is Arduino Uno microcontroller board This connection can be shown in Figure 3 13 In this connection receiver RX and transmitter TX pin of Arduino Uno microcontroller and SKXbee was cross connected It means TX pin of microcontroller is connected to RX pin of SKXbee while RX pin of microcontroller is connected to TX pin of SKXbee The transmitter and receiver status LED of SKXbee board is blinked if BlueBee transmitter pin and receiver pin transmit or receives data from the microcontroller 36 Transmitter status LED Figure 3 13 Connection for Communication system 3 2 2 5 Power Supply The power supply is the most critical unit in an electronic project One Lithium Polymer LiPo rechargeable 11 1V 2200mAh battery and one standard 9V battery is used to supply power to the Spherical Mobile Robot is quite small light and has longer life This battery was connected to the cube servo motor driver to support the servos It also used as a load for the robot While for 9V battery was connected to the Arduino Uno microcontroller board It is very important to used different battery for main board and motor driver because the motor required a lot of current in order to move 37 3 3 Software Design Basic process of writing software for the Spheric
38. nd some sensors 56 REFERENCES Robotzone 2012 How do servos motor work Servocity com URL http www servocity com html how_do_servos_work_html Laurence A Duarte The Microcontroller Beginner s Handbook 2 Edition United States of America Prompt Publication 3 5 1998 Arduino 2012 Introduction of Arduino Arduino cc URL http arduino cc en Guide Introduction Wikipedia 2013 Wireless URL http en wikipedia org wiki Wireless Cytron Technology 2012 User Manual Cytron Bluetooth module BlueBee Brochure Cytron Technologies Sdn Bhd A Halme J Suomela T Schonberg and Y Wang 1996 A spherical mobile micro robot for scientific applications Design of Spherical Rolling Robot Carnegie Mellon University Pittsburgh Research Paper Bicchi A 1997 Introducing the Spherical An Experimental Testbed for Research and Teaching in Nonholonomy University of Pisa Research report Knight W 2005 Spherical robot provides rolling security cover NewScientist com news service 10 11 12 13 14 57 URL http www newscientist com article ns id dn6932 Mukherjee R Design Challenges in the Development of Spherical Mobile Robot Robotic Ball Technology Study for Planetary Surface Mission NASA JSC EV George Studor May 11 2010 Javadi A H Introducing Spherical Robot A Nonholonomic Omni directional Rolling Robot Azad University of
39. nstructed inside the spherical body The control system on board is built based on Arduino Uno microcontroller The mobility of the spherical robot is based on disturbing the system equilibrium by changing the center of gravity of the robot This is done by moving the load which is attached at the end of servo that will displace the spherical robot s center of gravity to generate torque and creates rotational motion The spherical robot is controlled wirelessly via Bluetooth connected with PC In order to encompass the control of spherical robot Graphical User Interface GUD is developed This spherical robot can move Omni directionally means it can move in any direction to reach any desired position vi ABSTRAK Bergolek merupakan salah satu cara untuk bergerak di mana ia menyediakan pergerakan ke semua arah Jika kita dapat mengawal arah pergerakan dan kelajuan sesuatu objek yang bergolek maka kita dapat menggerakan object ke mana mana dengan kelajuan tertentu Kemampuan kemampuan ini merupakan satu kelebihan kepada robot yang boleh bergerak sedemikian Dalam projek ini robot bergerak sfera akan dibangunkan Robot ini mempunyanyi struktur berbentuk sfera system kawalan gerakan dan program komputer dalam PC sebagai pengawal utama Robot ini ada beberapa kelebihan Pertama robot sfera ini mudah puluh dari perlanggaran dengan halangan oleh kerana bentuknya Kedua badan robot sfera ini akan melindungi litar dan struktur dalaman daripada mengal
40. of Spherical Mobile Robot 4 2 Efficiency Test on Wireless Communication System HyperTerminal software is used in order to test the functionality of communication system at which Bluebee is used to communicate between Spherical Mobile Robot and computer Firstly AT mode of Bluebee module is used to test whether this Bluetooth module able to communicate or not The 38400bps baudrate will 45 be setup in the HyperTerminal and the Bluebee is connected to a computer The Bluebee is working when send AT to Bluebee the HyperTerminal will response OK The result can be shown in Figure 4 1 File Edit View Call Transfer Help Ose as 08 amp 4 m Connected 0 01 27 Auto detect 38400 8 N 1 Figure 4 1 BlueBee test using HyperTerminal After checking the functionality of the BlueBee the movement of two cube servo is tested by using HyperTerminal This test is done to ensure that the servos can move even it is not connect directly with a computer In other words it can move wirelessly The result of this test is shown in Figure 4 2 46 servo test HyperTerminal 0 File Edit View Call Transfer Help Oe 63 08 F SERVO 2 Move 90 degrees SERVO 2 MOVE 0 degrees Nothing Change a HyperTerminal Display b 90 degree movement c 0 degree movement Figure 4 2 Servo Movement Test using HyperTerminal Initially the Arduino Uno microcontroller is programmed to move the second servo that is attach with the U joint c
41. onnector Based on the result the second servo is moved to 90 degree position when button number 1 on the keyboard is pressed while the command was displayed in the HyperTerminal Then the servo is moved to 0 degree position as button number 2 is pressed and the command was displayed as well The servo will not move if other button is pressed Based on these two tests it can be summarize that BlueBee module is efficient as wireless communication module and the system is working properly as required 47 43 Efficiency Test on GUI The functionality and the capability of the Graphical User Interface GUI as the control system of Spherical Mobile Robot is Tested Firstly the connection between the computer and the robot need to be tested The COM port selection box in GUI will search the available COM port channel and then the text box in the GUI layout will show whether COM port channel is connected or not The result of this test is shown in Figure 4 3 a My Final Year Project 0 E Figure 4 3 Connectivity Test using GUI Based on the result the available COM port for the wireless communication device BlueBee is COM 11 The result shows that this com port is connected with the computer which interfaces with GUI Besides that status LED on BlueBee was blinked 2 times in 1 second means that the Bluetooth Wireless link is successfully created Therefore GUI can be used to control the Spherical Mobile Robot wirelessly 48 Aft
42. otor is extremely useful in robotics world Servo is widely used in radio controlled airplanes in order to control the position of surfaces like the elevators and rudders Besides that servo motor is also used in radio controlled cars puppets and of course robots 2 3 Microcontroller A microcontroller can be defined as a small computer on a single integrated circuit that contains a processor core programmable input output peripherals and memory Microcontrollers are often used in a simple control system because of their many features Microcontroller must contain at least two primary components which is random access memory RAM and instruction set RAM is a type of internal logic unit that will store information temporarily at which it will disappear when the power is turn off While instruction set is a list of all commands and their corresponding functions Besides that most microcontrollers also contain read only memory ROM programmable read only memory PROM or erasable programmable read only memory EPROM All of these memories are permanent at which they retain what is programmed into them even during loss of power They are used to store the firmware that tells the microcontroller how to operate and also used to store permanent lookup tables Moreover a microcontroller will consist of input output I O port pins in order to communicate with other device The number of I O pins per controllers varies greatly plus each I O pin
43. peed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 150 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA servol SetLED OFF iWRITE_DATA delay 1000 else if pos 2 move left direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position servo2 SetLED OFF iWRITE_DATA delay 1000 servol SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA go to 30 degree position delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 40
44. plication of this robot is for patrolling and monitoring industrial locations It is equipped with cameras mounted in transparent domes on the sides of the robot Figure 2 8 shows the picture of the robot 18 Figure 2 8 Groundbot Rotundus The design of this robot consists of a motor attached to the horizontal axis of the sphere Then the pendulum is located at the center which is drops down The sphere will roll as long as the weight of the pendulum has enough inertia when the motor is activated The advantages of pendulum driven principle are the mechanism of the robot is relatively straightforward The shell of the spherical robot is dimensionally non critical due to the internal drive mechanism which is only interface with the spherical shell at two fixed points Besides that this robot can have accurate and precise measurement of the spherical shell and the pendulum compared to hamster ball design concept On the other hand the disadvantage of this concept design is that the mechanical design would be more challenging compared to other concepts Besides that the torque required at the main drive shaft is much higher that the torque required in the hamster ball design Moreover the pendulum drive mechanism is not an omnidirectional movement Once it is stopped a sphere with a pendulum drive must begin travelling in the same instantaneous trajectory before travelling in an arc to change direction 19 2 5 3 Multiple Mass Shif
45. r the maximum pulse is about two millisecond wide Repetition rate is the time required from the servo to change from one position to another Different servos will have different constraints on their rotation but all of them will have a neutral position It means that the servo will have exactly the same amount of the potential rotation in the clockwise direction as it does in counter clockwise direction and the position is always 1 5 milliseconds ms lt Period 20ms gt ak eee eee i a Pulse Width lms min 2ms max Figure 2 2 Pulse Width Modulation signal In order to determine the position angle at which the servo will turn is by determine the duration of pulse that is applied to the control wire It is called Pulse Width Modulation PWM as shown in Figure 2 2 The servo motor is expects to see a pulse in every 20ms and the length of the pulse will determine how far the motor turns For example a 1 5 millisecond pulse will make the motor turn to the neutral position which is 90 degree position Let say if the pulse is shorter than 5millisecond then the motor will turn the shaft closer to the 0 degrees While if the pulse is longer than 1 5 millisecond then the motor will turn the shaft closer to 180 degrees This example can be illustrated in Figure 2 3 1 5ms Neutral 1 25ms 0 degrees 1 75ms 180 degrees gt Figure 2 3 Duration of pulse dictates the angle of output shaft In practice servo m
46. red during operation 2 5 6 Commercialized Spherical Mobile Robot Some authors have been described spherical mobile robot was very useful for some application if it equipped with environmental sensor such as a vision infrared camera loudspeaker microphone sensor for radioactivity heat and smoke detection These spherical mobile robots also have been commercialized by some company In 2002 the SONY Corporation has developed a spherical mobile robot as a tool for entertainment purpose called Q taro 12 This robot consists of 36 sensors which it switches on and off by sensing human hand and avoid obstacle automatically It is 22 developed to foster emotional connection between human and robot technology and also can be used as playing toy for children Besides that Japan also produces Tama Robo ball robot as entertainment as well This robot comes with a small round cup that consists of four light sensors This robot will roll and changing their direction when there is a light source Q taro and Tama Robo robot is shown in Figure 2 11 below Figure 2 11 Q taro and Tama Robo Another application of spherical mobile robot is space exploration It is one of the attractive application areas of spherical robot 13 This is because this robot provides protection from radiation for inner structure that consists of electronic circuit and necessary hardware The Massachusetts Institute Technology MIT in the US is developing spherical robo
47. rite LED_BOARD HIGH Serial begin 19200 void loop int pos if Serial available delay 100 while Serial available gt 0 pos Serial read reads the value sent from Visual Basic if pos 0 forward direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 3 iWRITE_DATA go to 3 degree position servo2 SetLED OFF iWRITE_DATA servo1 SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA go to 30 degree position delay 1000 servol1 SetSpeed 400 iWRITE_DATA servol SetPos ConvertAngle2Pos 90 iWRITE_DATA go to 90 degree position delay 1000 continue moving 5 times servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servol1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servol SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_
48. robot is also used to describe mobile ball like robots that move along the ground by rolling about their outer spherical shell This second definition is the focus of this project Spherical mobile robots have been described by only a few authors and also being made commercialized by some companies There is several type of constructing method which used a variety of different principle of locomotion These principles of locomotion can be categorized into four which are e Hamster Ball e Pendulum Driven e Multiple Mass Shifting e Deformable Body 2 5 1 Hamster Ball The sphere style of a hamster ball is where one with an inside driving unit IDU which transfer directly to the inside surface of a hollow spherical shell This type of principle can be constructing using two methods which are sprung central member and internal car resting on the bottom as shown in Figure 2 5 15 a Sprung Central Member b Internal Car Figure 2 5 Hamster Ball Concept The sprung central member design consists of three main elements which is a single driven wheel at the bottom a spring element and fixed wheel at the top The spring will maintains contact between the driving wheel and the inside surface of the sphere The driven wheel is rotated about its contact point with the sphere in order to steer by applying a torque between the wheel and the inertia of the rest of the assembly While for the internal car design is mostly closely resem
49. statements for this project are 1 Traditional built robot have difficulty in continuing motion when turning over is occurred 2 Robot based on surface locomotion cannot carry out task in hazardous environment and the mobility of the robot is limited 3 Only a few research have been done by a researches about Spherical Mobile Robot 1 3 Project Objectives The main objective of this undergraduate project is to design a spherical mobile robot with Omni directional movement In order to accomplish this main objective there are several subordinate goals that need to be done which are 1 To design and build the mechanical structure of the spherical mobile robot 2 To design and build the mechanism in order to move the robot Omni directionally 3 To develop the controller to control the driving mechanism 4 To design and develop Graphical User Interface GUI using visual basic to control the movement of the robot 1 4 Project Scope In this final year project it requires the integration of both hardware and software part The scope of this project includes 1 The spherical mobile robot structure and mechanism is implemented in real hardware 2 This Omni directional spherical robot will equip with only control motion and serial communication system which use Arduino Uno as the main controller 3 The spherical mobile robot also can be controlled wirelessly using Bluetooth device via a computer 1 5 Thesis Layo
50. t b Deformable wheel rolling Video snapshots of the wheel rolling over a period of 6 second Q taro and Tama Robo PAGE 12 15 16 17 18 19 21 22 xi 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 Principle of Locomotion Spherical Mobile Robot design Outer spherical shell Body of internal structure Driving mechanism construction Electrical part construction Final structure of Spherical Mobile Robot a Complete internal structure b Overall outlook Block diagram of circuit connection Arduino Uno board G15 Shield setup G15 Cube servo Daisy chain connection Connection for communication system Process flow of writing software Writing program by Arduino IDE software 25 26 27 28 29 29 30 31 32 33 34 35 36 37 38 xii 3 16 3 17 3 18 3 19 3 20 4 1 4 2 4 3 4 4 4 5 4 6 4 7 Selecting Arduino board and USB port Creating project using Visual Basic GUI components GUI layout design Program Writing in Visual Basic BlueBee test using HyperTerminal Servo movement test using HyperTerminal a HyperTerminal Display b 90 degree movement c 0 degree movement Connectivity test using GUI Control position of GUI test Robot move forward and backward direction a Forward movement b Backward movement Robot move left and right d
51. t that can move by bouncing and rolling 14 These robots can be sent to other planets arranged altogether in an egg carton like container 23 2 6 Summary As a summary this chapter have discussed about servo motor and microcontroller which is very important components in developing the controlled system in robotics world This chapter also has discussed about Arduino microcontroller at which this microcontroller is very user friendly and easily to use and program Besides that this chapter had talked about BlueBee which is Bluetooth device that can use for wireless communication system to communicate either between computer and microcontroller or among the computer only Moreover this chapter has explained some of related work that has developed by previous researches on method of development of Spherical Mobile Robot In addition there is some commercialized spherical robot and its application that has described in this chapter CHAPTER 3 SYSTEM DESIGN 3 1 Introduction This chapter will discuss about the method and system design that will be used in order to build the spherical mobile robot with omnidirectional movement Firstly it will give an overview about the hardware design It will consist of mechanical and electronic design Besides that this chapter also will explain about the software design It will consist of spherical mobile robot programming and development of graphical user interface GUI using Microsoft Visual Bas
52. ting The multiple mass shifting concept design incorporates three or four masses that can be move independently along linear guides inside the sphere The location of the center of mass of the spherical mobile robot can be controlled by coordinating the motion of the masses thereby enabling the robot to move in desired location Spherobot is one of the robots that have used this concept design which have been proposed by R Mukherjee In his design it consists of a central body with weights distributed radially along spokes fixed inside surface of the sphere 9 The weights can be the motors which move along the axes to change the center of mass Figure 2 9 a shows the design of the Spherobot Besides that A Javadi and P Mojabi also have used similar design in order to construct a spherical mobile robot called August 10 They had implemented their robot with a stepper motors located at center of the robot and four axes are mounted in tetrahedral pattern as shown in Figure 2 9 b Retractable Camera p gt lt lt Sy Reciprocating Mass J a Central Body X J Telescopic Limbs Figure 2 9 Spherobot Design a and August b 20 The advantage of the multiple mass shifting concept is that it is fully omnidirectional It can instantaneously begin moving in any direction from a standstill with this propulsion mechanism Besides that it can offer very precise control of the center of mass of the sphere However there are some
53. ut This thesis consists of five chapters In first chapter it gives a brief review about project background problem statement objectives project scope as well as summary of work While in Chapter 2 it will focus on literature reviews that have been done by different authors around the world This is important in giving the insight ideas for the Spherical Mobile Robot with Omni Directional Movement project undertaken Besides that this chapter also will discuss about theory related to the project which is about servo motor Arduino and wireless communication system In Chapter 3 the discussion will be on the system design of the project It will describe the mechanical and electronic design programming used in this project as well as the development of graphical user interface using Microsoft Visual Basic Then in Chapter 4 the experimental result findings and the analysis of the robot will be discusses The robot will be analyzed to measure its effectiveness and to ensure the objectives successfully achieved Throughout the analysis stage strength and weaknesses of the robot were identified Last but not least Chapter 5 discusses about the project limitations and further development that can be done This chapter will also conclude the whole project CHAPTER 2 THEORY AND LITERATURE REVIEWS 2 1 Introduction This chapter will give some overview or theory about servo motor microcontroller and wireless communication module where thes
54. ve Sketch in Archive Sketch Fix Encoding amp Reload Serial Monitor Chie ShiteM Fix Encoding amp Reload Serial Monitor CtrleShifteM S04 Conteo Board re Arduino Uno Serial Port Arduino Duemilanove w ATmega328 Board 5 Arduino Diecimila or Duemilanove w A T DE rogrammer gt Arduino Nano w ATmega328 Sera Pot COMO Butn Bootloader Arduino Nano w ATmega168 Arduino Mega 2560 or Mega ADK Arduino Mega ATmega1280 Burn Bootloader Programmer Figure 3 16 Selecting Arduino board and USB port 3 4 Graphical User Interface Development Graphical user interface GUI is a method to interface between computer and external device which can manipulate by a mouse or a keyboard So that user can easily use a GUI to control operation of hardware and producing a data There are many programming tools that can be used to design a GUI platform such as Microsoft Visual C Labview Matlab Microsoft Visual Basic and Java programming language In this project Microsoft Visual Basic 2010 is used to develop a simple GUI platform 3 4 1 GUI Design 40 First step in order to design a GUI with Microsoft Visual Basic is creating a new project by selecting Window Forms Application as shown in Figure 3 17 After that designing the platform of the GUI can be started by using Toolbar which is provided This Toolbar consist of various GUI components such as Labels Buttons Text GroupBox and Menus that wil
55. vo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 30 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA servol SetLED OFF iWRITE_DATA delay 1000 else if pos 6 move lower left direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 45 iWRITE_DATA servo2 SetLED OFF iWRITE_DATA delay 1000 servo1 SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA ser
56. vol SetLED OFF iWRITE_DATA delay 1000 else if pos 7 move lower right direction command servo2 SetLED ON iWRITE_DATA servo2 SetSpeed 300 iWRITE_DATA servo2 SetPos ConvertAngle2Pos 135 iWRITE_DATA servo2 SetLED OFF iWRITE_DATA delay 1000 servo1 SetLED ON iWRITE_DATA servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA delay 1000 servo1 SetSpeed 600 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 160 iWRITE_DATA delay 1000 servo1 SetSpeed 400 iWRITE_DATA servo1 SetPos ConvertAngle2Pos 90 iWRITE_DATA servol SetLED OFF iWRITE_DATA delay 1000
57. which the cube servos will attach together to form a driving mechanism The first servo is attached with the body of internal structure while the other one will attach with U joint connector which stick with battery holder that act as a load The structure can be shown in Figure 3 5 29 Figure 3 5 Driving mechanism construction Electronics part is placed at the top of the body of the internal structure It is consist of Arduino Uno board cube servo motor driver Bluetooth module and power supply holder It can be shown in Figure 3 6 Figure 3 6 Electrical part construction 30 The overall outlook of the final version of the Spherical Mobile Robot is shown in Figure 3 7 The final structure is constructed based on the continuous modification and improvement Electrical Part Mechanical Part Load Power Supply a Complete internal structure b Overall outlook Figure 3 7 Final structure of Spherical Mobile Robot 31 3 2 2 Electronic Design In electronic part design the circuit can be divided into three parts which are the main board driver circuit to control the servo motor and communication circuit board which consist of SKXbee board and Bluetooth module All these circuit board will be connected together Figure 3 8 shows the block diagram for summarizes the connection between the electronic components of the Spherical Mobile Robot SKXbee Board Bluebee Power Supply Arduino Uno
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