Automated Step Climber | Electrical Project
Automated Step Climber
Abstract
Human body is perfect combination of motion, balance,
co-ordination and reflex. It because human brain is so much developed that all
these activities can take place in such perfect co-ordination. With advancement
in science we humans have created many beautiful creations and robot happens to
be one of them. Humans have developed robots that can mimic humans. In the same
context it is our humble effort to develop an electro-mechanical autonomous
robotic vehicle that can have multiple degree of freedom, which enable it to
move through various terrains.
Taking inspiration from NASA’s path finder robot we have
tried to make a tone down prototype which control its movement with help of
microcontroller which properly co-ordinate its motion. In our project we have
tried to built an electro-mechanical autonomous robotic vehicle, which moves
over the hurdles in front of it by sensing obstacle with help of sensing
circuit and taking controlled action with microcontroller ,which drives the
motors to make robot climb over the obstruction.
We have used many other chips to achieve this motion which
we have described in the component section. This robotic vehicle could become a
prototype for surveillance vehicle and other military vehicles used for
detection and detonation of mines .Since cost of this prototype is very less
thus it could be inducted in army easily and be made indigenously.Mainly ou
project is based on working of microcontroller for the automatic management and
motors for hardware management.
At initial position all the wheels are on the ground and
microcontroller is programmed in such a way that the robo moves forward till
the sensor circuit detect any obstruction. The sensor circuit consist of IR LED
and phototransistor .The IR LED emits the IR radiations ,when there no
obstruction the phototransistor does not detect any reflected radiation and the
vehicle moves forward without any vertical motion.
When any obstruction comes in front of sensor mounted in
front of wheel one the IR radiation are reflected back from the obstruction
which is picked up by phototransistor .This phototransistor supplies a trigger
signal to the comparator which conditions the signal and supplies the signal to
microcontroller. The forward motion of the robo stops and microcontroller then
detect the signal on a programmed pin. According to programming controller send
the signal to the motor driver .
The motor driver drives the rack and pinion which lifts the
wheel set one from the ground. The phototransistor detect the radiated IR
radiations till the IR LED moves above the obstacle. As the wheels thus IR LED
moves above the obstruction no sensor detect any signal thus forward motion of
robo is initiated by the controller.
Now the second detector detect the
obstruction and same action is repeated as in case of first sensor. Once the
second wheel moves over the obstruction the center of gravity moves in such a
position that robo cannot topple. Thus in similar way third and last wheel
climb over the obstruction and the robo moves above the obstruction.
