Block Diagram: Body of Robot

BLOCK DIAGRAM
BODY OF ROBOT
REGULATED POWER SUPPLY

SERVO MOTORS
CONTROL PULSES PIC16F877 MICROCONTROLLER
DC MOTORS
CONTROL SIGNALS SIGNALS USART
ZIGBEE MODULE RF SIGNALS FROM CONTROL MODULE RF SIGNALS TO CONTROL MODULE
CONTROL MODULE
ZIGBEE MODULE
USART CONTROL SIGNALS
MICROPHONE
COMPUTER
WEBCAM
CIRCUIT DIAGRAM
H BRIDGE
3. COMPONENT DESCRIPTION
MICROCONTROLLER: The entire mechanical section is controlled by PIC I6F877A-which actuate the respective motors. MOTORS:DC motors are used to run the wheels. SERVO MOTORS: These motors are used to position the arm.
ZIGBEE: It is used for transmission and reception of the data. POWER SUPPLY: Power supply circuitry provides the necessary supply voltages to the blocks. MIC & WEBCAM: Part of the computer sytem used to input data from user
PIC MICROCONTROLLER INTRODUCTION The embedded information processing intelligence. The micro controller is the most important part of weather station. The micro controller contains CPU, I/Ports, RAM, ROM, timers; COM ports all in single a chip. This reduces the power consumption and space. The PIC, which means Peripheral Interface Controller, is an 8-bit micro controller from Microchip Technology. Here PIC 16F877 series is used which meet the task efficiently. The PIC stands for Peripheral Interface Controller as coined by MICROCHIP TECHNOLOGY INC USA, to identify its single chip micro controllers. They are directed at the 8 bit micro controllers, the largest segment of micro controllers. It is popularly used for embedded control solutions with more than 20,000 design wins to it credit. In our project we have used PIC16F877 micro controller, which is based on CMOS technology. revolution is truly hidden inside the product we use everyday. Micro controllers drive the revolution in embedded
MICROCONTROLLER CORE FEATURES
High Performance RISC CPU Only 35 single word instructions to learn. All single cycle instructions except for program branches, which are two cycles. Operating speed: DC-20MHZ clock input DC-200ns instruction cycle. Up to 8K*14 words of FLASH Program memory, Up to 368*8 bytes of Data Memory (RAM) Up to 256*8 bytes of EEPROM data memory Pin out compatible to other 40 pin PIC 16F877 micro controller. Interrupt capability(up to 14 sources) Eight level deep hardware stack Direct, indirect and relative addressing modes
Power-on Reset(POR) Power-up Timer(PWRT) and Oscillator Start-up Timer(OST) Watchdog Timer(WDT) Programmable code-protection Power saving SLEEP mode Selectable oscillator options Low-power, high-speed CMOS FLASH/EEPROM technology Fully static design In-Circuit Serial Programming Single 5V ICSP capability In-circuit Debugging via two pins Processor read/write access to program memory Wide operating voltage range: 2.0 to 5.5V High Sink/Source Current: 25mA Commercial and Industrial temperature ranges Low power consumption -<2mA typical @ 5V, 4MHz -<20 A typical @ 3V, 32 kHz (ICSP) via two pins
3.3.6. SERVO MOTOR Six servo motors ae used for dynamic robotic arm movement. Servomotors are the angle motors, they can attain different angles depending upon the coded pulses, and coded pulses are given to the control pin of the servomotor. The servomotor has three pins VCC, GND, CTRL. Servomotors are basically geared down dc motors with positional feedback control, allowing for accurate positioning of the rotor arm, with a range of 90 degrees. They can also be modified to allow for continuous rotation. Servomotors have three wires; usually red, black and white. The red wire is for +VDC, the black for ground, and the white is for position control. This control signal is a variable-width pulse, which can be varied from 1 to 2 ms. The pulse width controls the rotor position. A 1.0 ms pulse rotates the shaft all the way counter-clockwise. A 1.5 ms pulse puts the rotor at neutral (0 degrees), and a 2.0 ms pulse will position the shaft all the way clockwise. The pulse is sent to the servo at a frequency of approximately 50 Hz. The relationship between the pulse width and the rotor position can be seen in figure 1 (below). Fig:3.11
3.3.8. ZIGBEE We are using ZIGBEE Protocol for the data transmission purpose. It is a low power mesh networking. It is based on the IEEE 802.15.4 standard. It operates in unlicenced band worldwide at frequencies:2.40-2.484 GHz,902-908 MHz and 868-868.6 MHz .It has the personal operating area of 10 mtrs. Multipoint communication is possible in ZIGBEE Protocol. 3.3.8.1. MULTIPOINT COMMUNICATION
Fig:3.12
DC MOTORS Why choose a D.C. motor ? Many applications call for a high start-up torque. The D.C. motor, by its very nature, has a high torque vs. falling speed characteristic and this enables it to deal with high starting torques and to absorb sudden rises in load easily. The speed of the motor adjusts to the load. Furthermore, the D.C. motor is an ideal way of achieving the miniaturisation designers are constantly seeking because the efficiency it gives is high compared with other designs. Composition of a D.C. motor
The stator is formed by a metal carcass and one or more magnets that create a permanent magnetic field inside the stator. At the rear of the stator are the brush mountings and the brush gear which provide electrical contact with the rotor. The rotor is itself formed by a metal carcass carrying coils which are interconnected at the commutator at the rear of the rotor. The commutator and brush assembly then select the coil through which the electric current passes in the opposite direction. Principle of operation Whatever the complexity of the rotor coil windings, once they are energised, they may be represented in the form of a ferromagnetic cylinder with a solenoid wrapped around it.
By the attraction of opposite poles and repulsion of like poles, a torque then acts on the rotor and makes it turn. This torque is at a maximum when the axis between the poles of the rotor is perpendicular to the axis of the poles of the stator.As soon the rotor begins to turn, the fixed brushes make and break contact with the rotating commutator segments in turn. The rotor coils are then energised and de-energised in such a way that as the rotor turns, the axis of a new pole of the rotor is always perpendicular to that of the stator. Because of the way the commutator is arranged, the rotor is in constant motion, no matter what its position. Fluctuation of the resultant torque is reduced by increasing the number of commutator segments, thereby giving smoother rotation.By reversing the power supply to the motor, the current in the rotor coils, and therefore the north and south poles, is reversed. The torque which acts on the rotor is thus reversed and the motor changes its direction of rotation. By its very nature, the D.C. motor is a motor with a reversible direction of rotation.

Block Diagram: Body of Robot

Uploaded by

Copyright:

Available Formats

Block Diagram: Body of Robot

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Block Diagram: Body of Robot

Uploaded by

Copyright:

Available Formats

BLOCK DIAGRAM

REGULATED POWER SUPPLY

CONTROL PULSES PIC16F877 MICROCONTROLLER

CONTROL SIGNALS SIGNALS USART

ZIGBEE MODULE RF SIGNALS FROM CONTROL MODULE RF SIGNALS TO CONTROL MODULE

USART CONTROL SIGNALS

MICROCONTROLLER CORE FEATURES

You might also like