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    ABSTRACT

    An Autonomic Robot [I]

    YILDIZ Muhammed, DALGAC Sekip, ÇAGLAR NurullahGraduation ro!e"t in Department o# $le"tri"al and $le"troni"% $n&ineerin&Super'i%or ( A%%i%t) ro#) Dr) Tol&a* +ARA

    anuar*-./01

    In thi% pro!e"t,an o2!e"t i% %ear"hed and #ound 2* %en%or% in 3m.%4uare area)The o2!e"t i% li#tup and tran%ported to "hoo%en 0m. red area in the "orner o# the room 2* ro2oti" arm)5hile thi% pro"e%% i% per#ormed,Ro2ot a'oid% 2la"k line% and 6hole o# pro"e%% i% pro"eed autonomi"all*)

    7Z$T

    Otonomik Robot

    YILDIZ Muhammed, DALGAÇ 8ekip, ÇA9LAR Nurullah$lektrik $lektronik M:hendi%li;i B"ak-./01

    Bu pro!ede, "i%im 3m. 2ir alanda %en%

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    ACKNOWLEDGEMENTS

      ir%t o# all,5e are &rate#ul to our %uper'i%or A%%i%t) ro#) Dr) Tol&a* +ara 2e"au%e o# 6hole help% durin& the pro!e"t %e%%ion)And al%o 5e 6ould like to thank% G:neri G:n&

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     per#ormed 6hole o# the pro"e%% 6ithout human)Ro2ot u%e% %en%or% and ro2oti" arm durin& theall ta%k% i% per#ormed)

      The num2er o# autonomi" ro2ot i% in"rea%in& 6ith the de'elopin& te"hnolo&* and ea"hro2ot i% 2etter than pre'iou% one and the num2er o# #ailure i% de"rea%in&)urther more,the%e

    ro2ot i% takin& pla"e ea%il* in dail* li#e)5ith ro2oti" arm%,%en%or% the* "an do an*thin& that people "an do)

      In thi% pro!e"t,6e de%i&n an %pe"ial autonomi" ro2ot that "an #ind and tran%port an o2!e"t#rom an*6here to an*6here 6e 6ant)Thi% ro2ot look like a people 6ith %en%or%,6heel% and it%ro2oti" arm)>2!e"t i% #ound 6ith u%in& t6o ltra%oni" di%tan"e %en%or%,and ro2ot mo'e%to6ard to o2!e"t #or "at"hin& the o2!e"t)Ro2ot li#t% it up 2* ro2oti" arm% and tran%port% to redarea 6ith #ollo6in& 2la"k line%)Ro2ot %en%e% red area u%in& "olor %en%or)inall*,Ro2ot lea'eo2!e"t to red area)

    Arduino Uno

      The arduino uno 6a% in'ented 2* Ma%%imo Ban=i in Italia)It ha% a open %our"e li2rar* atinternet that% 6h* ea%* pro&ramma2l* ) It i% mi"ro"ontroller %*%tem 2a%ed on CEE)It ha% 0F

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    di&ital inputoutput pin% o# 6hi"h 1 "an 2e u%ed a% 5M output%,1 analo& input%,a SB"onne"tion,a po6er !a"k)It in"lude% e'er*thin& needed to %upport the mi"ro"ontroller)To &et%tart,*ou "an "onne"t it to a "omputer 6ith a SB "a2le or po6er 6ith a AC to DC adapter)

     

    Arduino Uno

    Tecnic!" #e!ture$

    Mi"ro"ontroller Atme&aH.

    >peratin& Jolta&e KJ

    Input Jolta&e -0.J

    DC Current per I> in ./ mA

    DC Current #or H)HJ in K/ mA

    Robotic Arm

      The ro2oti" arm 'er* popular in the 6orld)5e u%e ro2oti" arm to li#t up and put do6n too2!e"t)A""ordin& to in our re%ear"h,6e "ouldnt #ind a'aila2le arm #or u%)Then 6e made

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    ro2oti" arm #rom HD printer)The maimum 6ide o# the ro2oti" arm i% 0. "m)5e u%ed t6o%er'o motor% to mo'e r?&ht-le#t dire"tion and up-do6n dire"tion)

    U"tr!$onic Sen$or

      ltra%oni" %en%or "an mea%ure the di%tan"e #rom . "m to F// "m)5e "an u%e it in radar and

    ro2ot appli"ation)The 2a%i" prin"iple o# thi% %en%or thi% %en%or 6e %end a pul%e a2out 0/u%

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    throu&h tri& pin and then the %en%or produ"e% a %i&nal at a #re4uen"* o# F/k= in it%el# and

    %end% thi% pul% to it% tran%du%ere )The %ound 6a'e in the air, at %ea le'el and 0K O C , take% HF/

    m % %peed%)Strike% an o2!e"t and i% re#le"ted 2a"k to the %en%or)$"ho i% dire"tl* proportional

    to the o2!e"t di%tan"e #rom the %en%or pin i% at lo&i"al 0 #or a 6hile and then a&ain 2e"ome%

    lo&i" /)To mea%ure thi% di%tan"e 6e need to #ind out lo&i" 0 time o# e"ho pin )Then the

    di%tan"e i% "al"ulated u%in& the amount o# that time)

    ltra%oni" %en%or 

     

    Tecnic!" #e!ture$

    o'er Suppl* EKJ DC

    5orkin& Current 0K mA

    Ran&in& Di%tan"e . "m - F// "m 

    Arduino Connection

    Co"our Sen$or

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      TCH.// Colour %en%or i% "omplete "olor dete"tor that in"lude %en%or "hip and F 6hiteled%)It per"ei'e three di##erent "olour)The* are &reen 2lue and red)It ha% 0/ pin%)The taken data#rom the RGB #ilter 6a% "on'ert to %4uare 6a6e 6ith proportional o# the #re4uen"*)

    TCSH.// Colour Sen%or 

    Tecnic!" #e!ture$

    Suppl* Jolta&e .) - K J

    Inter#a"e Di!ital

    Color Sen%or% Channel% RGB

    Arduino Connection

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    Re%"!ct!nce Sen$or

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      PTR-0A i% line %en%or that u%in& in the 'ariou% ro2ot pro!e"t) The aim o# to u%e thi%%en%or that a'oid the 2la"k line and %ta* in the ro2ot pro!e"t area)Re#la"tan"e %en%or in"lude% a"ouple o# in#rared led and phototran%i%tor pair)Thi% %en%or &i'e% u% %ome %pe"i#i" ran&edepend% on the "olour t*pe)The output% o# the PTR-0A %en%or &oe% to Arduino)So the ro2ota'oid the 2la"k line or #ollo6in& 2la"k line)

    PTR-0A Re#la"tan"e Sen%or 

    Tecnic!" #e!ture$

    >peratin& 'olta&e K J

    Suppl* "urrent 0 mA

    >utput ormat Analo& Jolta&e

    Ran&e Sen%in& Di%tan"e H mm - 1 mm

     

    Robot &od'

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      Ro2ot 2od* i% ei%ted t6o parallel plate three 6heel% and %ome %"re6)5e 2ou&ht it a% aun"om2ined)5e "om2ined all o# the "omponent ea"h other 'ia hole on the plate)

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    DC MOTOR 

      In ro2oti" d" motor% are u%e 6ith redu"tor or 6ithout redu"er) Redu"er% "on%i%t o# %ha#t%and %pro"ket% #itted into the 2od*)The purpo%e o# the redu"er% i% tra%mitte po6er and "reat%moment)The #eature% o# d" motor% %ho6n 2elo6Q

    Arduino connection

    Tecnic!" #e!ture$

    nput 'olta&e H-0.

      Speed .K/ Rpm

      Current 3/ mA

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    SER(O MOTOR 

      Ser'o motor i% a t*pe o# motor% 6ho%e output %ha#t "an 2e mo'ed to a %pe"i#i" an&ular po%ition 2* %endin& it a "oded %i&nal) The %er'o motor 6ill maintain the po%ition o# the %ha#t a%lon& a% *ou keep appl*in& the "oded %i&nal) 5hen *ou "han&e the "oded %i&nal, the an&ular

     po%ition o# the %ha#t 6ill "han&e) the u%in& area% o# the motor% are %ome ro2ot pro!e"t, ro2oti"arm and indu%trial appli"ation)

    SM-FH/HR Ser'o Motor 

    Tecnic!" #e!ture$

      Speed1J /)0F %e"1/O

      Stall tor4ue1J F)k&)"m

    Speed(4.8) 0.16 sec/1/O

      Stall tar4ue H)Hk&)"m

     

    Arduino Connection

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    A))ENDI*

    Gripper Arm In%tru"tion%

    art% li%t to 2uild the arm(

    • Arm × 0•

    • Guide × .•

    • Le#t Dri'e × 0•

    • Ri&ht Dri'e × 0•

    • ,a6× .

    • Ser'o × .•

    • Gripper Ba%e× 0

    • Lon& S"re6 × 00•

    Lo"k Nut×

    0K•

    • Short S"re6 × F•

    • Gripper Top× 0

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    Ste+ ,-

    In%ert the el2o6 %er'o into the %lot in the arm)

    Ste+ .-

    a%ten the %"re6% 6ith #our nut%

    Ste+ /-

    Stret"h the &ripper 2a%e around the #ront

    and pu%h it onto the %er'o)

    Ste+ 0-

    la"e the &ripper %er'o under the &ripper 2a%e)

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    Ste+ 1-

    a%ten the %er'o in pla"e 6ith #our nut%)

    Ste+ 2-

    u%h the ri&ht dri'er onto the %er'o)

    Ste+ 3-

    la"e the le#t dri'e in %o that it me%he% 6ith

    the ri&ht dri'e) It %hould mirror the an&le o# 

    the ri&ht dri'e) It 6ill 2e held in pla"e 6ith

    the top plate in the neMt %tep)

    Ste+ 4-

    la"e the top lid o'er the dri'er%) The pe& on

    the 2ottom %hould #it into the hole in the le#t

    dri'e)

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    Ste+ 5-

    Nold the top in pla"e 2* #a%tenin& the %"re6

    6ith a nut)

    Ste+ ,6-

    Ali&n the &uide% 6ith the hole% in the &ripper

     2a%e and top plate)

    Ste+ ,,

    iM the &uide% in pla"e 6ith t6o nut%)

    Ste+ ,.-

    Ali&n the hole% o# one !a6 6ith the hole inthe end o# the ri&ht dri'e and the "orre%pond-

    in& &uide) C%e t6o %"re6% to hold it in pla"e)

    Ali&n the hole% o# the other !a6 6ith the le#t

    dri'e and the "orre%pondin& &uide) C%e t6o

    more %"re6% to hold it in pla"e

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    Ste+ ,/-

    iM the !a6% in pla"e 6ith #our nut%)

    Ste+ ,0-

    You ha'e no6 a%%em2led the arm)

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    U"tr!$onic R!n7in7 Modu"e 8C 9 SR60

    rodu"t #eature%(

    ltra%oni" ran&in& module C - SR/F pro'ide% ."m - F//"m non-"onta"t mea%urement#un"tion, the ran&in& a""ura"* "an rea"h to Hmm) The module% in"lude% ultra%oni"tran%mitter%, re"ei'er and "ontrol "ir"uit) The 2a%i" prin"iple o# 6ork(

    %in& I> tri&&er #or at lea%t 0/u% hi&h le'el %i&nal,

    The Module automati"all* %end% ei&ht F/ k= and dete"t 6hether there i% a pul%e %i&nal 2a"k)

    I the %i&nal 2a"k, throu&h hi&h le'el , time o# hi&h output I> duration i% the time #rom%endin& ultra%oni" to returnin&)

    Te%t di%tan"e U hi&h le'el timeV'elo"it* o# %ound HF/MS .,

    5ire "onne"tin& dire"t a% #ollo6in&(

    5V Supply

     Trigger Pulse Inpu

    !c"o Pulse #upu

    0V $round

    $le"tri" arameter 

    Workin7 (o"t!7e DC 1 (

    Workin7 Current ,1mAWorkin7 #re:uenc' 068;M!< R!n7e 0mMin R!n7e .cmMe!$urin7An7"e ,1 de7reeTri77er In+ut Si7n!" ,6uS TTL +u"$eEco Out+ut Si7n!" In+ut TTL "e=er $i7n!" !nd te r!n7e in

    ro ortion

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    Dimen$ion 01>.6>,1mm

    TC/.66

    DESCR?)T?ON

    The TCSH.// and TCSH.0/ pro&ramma2le "olor li&ht-to-#re4uen"* "on'erter% that "om2ine"on#i- &ura2le %ili"on photodiode% and a "urrent-to-#re- 4uen"* "on'erter on a %in&lemonolithi" CM>S inte&rated "ir"uit) The output i% a %4uare 6a'e K/W dut* "*"le 6ith#re4uen"* dire"tl* propor- tional to li&ht inten%it* irradian"e) The #ull-%"ale output#re4uen"* "an 2e %"aled 2* one o# three pre%et 'alue% 'ia t6o "ontrol input pin%) Di&italinput% and di&ital output allo6 dire"t inter#a"e to a mi"ro"ontroller or other lo&i" "ir"uitr*)

    >utput ena2le >$ pla"e% the output in the hi&h-impedan"e %tate #or multiple-unit %harin& o# a mi"ro"ontroller input line)In the TCSH.//, the li&ht-to-#re4uen"* "on'erter read% an arra* o# photodiode%) Siteen photodiode% ha'e 2lue #ilter%, 01 photodiode% ha'e &reen #ilter%,01 photodiode% ha'e red #ilter%, and 01 photodiode% are "lear 6ith no #ilter%)In the TCSH.0/,the li&ht-to-#re4uen"* "on'erter read% a F 1 arra* o# photodiode%) Si photodiode% ha'e 2lue#ilter%, 1 photodiode% ha'e &reen #ilter%, 1 photodiode% ha'e red #ilter%, and 1 photodiode% are"lear 6ith no #ilter%)The #our t*pe% "olor% o# photodiode% are interdi&itated to minimi=e thee##e"t o# non-uni#ormit* o# in"ident irradian"e) All photodiode% o# the %ame "olor are"onne"ted in parallel) in% S. and SH are u%ed to %ele"t 6hi"h &roup o# photodiode% red, &reen,

     2lue, "lear are a"ti'e) hotodiode% are 00/ µm 00/µm in %i=e and are on 0HF-µm "enter%)

    Terminal Functions

    TERMINA

    L NAMEI/O DESCRIPTI

    ON

    GND   4 Power supply ground. All voltages are referenced to GND.

    OE   3 I Enable for f  o (actve low!.

    O"#   $ O Output fre%uency (f  o!.

    &' &) ) * I Output fre%uency scalng selecton nputs.

    &* &3 + , I P-otodode type selecton nputs.

    DD   / &upply voltage

    Table 1. Selectable Otions

    S!   S P#OTODIODE T$PE

    0 0 1ed

    0 2 lue

    2 0 lear (no flter!

    2 2 Green

    S S1 O&TP&T FRE'&ENC$ SCALIN(

    0 0 Power down

    0 2 *5

    2 0 *'5

    2 2 )''5

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    A,ailable Otions

    DE-ICE T PACA(E PACA(E ORDERIN(#&3*'' 64'° to ,/° &OI6,   D #&3*''D

    #&3*)' 64'° to ,/° &OI6,   D #&3*)'D

    Recommene Oeratin2 Conitions

    MIN NOM MA3 &NI

    &upply voltage DD *.+ / /./

    2g-7level nput voltage I2 DD 8 *.+ to /./ * DD

    0ow7level nput voltage I0 DD 8 *.+ to /./ ' '.,

    Operatng free7ar te9perature range # A 64'   +'   °

    Electrical C4aracteristics at TA 5 !6°C7 -DD 5 6 - )unless ot4er8ise note+

    PARAMET TEST CONDITIONS MIN T$ M &NI

    O2 2g-7level output voltage IO2 8 6 * 9A   4   4./

    O0 0ow7level output voltage IO0 8 * 9A   '.* '.4

    II2 2g-7level nput current   /   µ A

    II0 0ow7level nput current   /   µ A

    IDD &upply currentPower7on 9ode ).4 9A

    Power7down 9ode '.)   µ A

    :ull7scale fre%uency (&ee Note 4!

    &' 8 2 &) 8 2   /'' $' ;2<

    &' 8 2 &) 8 0   )'' )* ;2<

    &' 8 0 &) 8 2   )' )* ;2<

    #e9perature coeffcent of responsvty   λ ≤ +'' n9 6*/° ≤ # A≤  ± pp9=

    ;& &upply voltage senstvty DD 8 / ±)'5   ±'. 5=

    NO#E 4> :ull7scale fre%uency s t-e 9a?9u9 operatng fre%uency of t-e devce wt-out saturaton.

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    @TR,A

    Functional Descrition

    The ololu PTR-0A re#le"tan"e %en%or "arrie% a %in&le in#rared L$D and phototran%i%tor pair)

    The phototran%i%tor i% "onne"ted to a pull-up re%i%tor to #orm a 'olta&e di'ider that produ"e%

    an analo& 'olta&e output 2et6een / J and JIN 6hi"h i% t*pi"all* K J a% a #un"tion o# the

    re#le"ted IR) Lo6er output 'olta&e i% an indi"ation o# &reater re#le"tion) or a %imilar %en%or 

    6ith a di&ital I>-"ompati2le output, %ee the PTR-0RC re#le"tan"e %en%or )

    The L$D "urrent-limitin& re%i%tor i% %et to deli'er approimatel* 0 mA to the L$D 6hen

    JIN i% K J) The "urrent re4uirement "an 2e met 2* %ome mi"ro"ontroller I> line%, allo6in&the %en%or to 2e po6ered up and do6n throu&h an I> line to "on%er'e po6er)

    Thi% %en%or 6a% de%i&ned to 2e u%ed 6ith the 2oard parallel to the %ur#a"e 2ein& %en%ed)

    Be"au%e o# it% %mall %i=e, multiple unit% "an ea%il* 2e arran&ed to #it 'ariou% appli"ation% %u"h

    a% line %en%in& and proimit*ed&e dete"tion) or a line %en%or 6ith ei&ht o# the%e unit%

    arran&ed in a ro6, plea%e %ee the PTR-A re#le"tan"e %en%or arra*Q #or a %imilar arra* o# three

    %li&htl* di##erent %en%or "omponent%, %ee the PTR-HA) or a %maller %en%or 6ith lon&er ran&e,

    and intended #or u%e 6ith the 2oard perpendi"ular to the %ur#a"e, plea%e %ee the  PTR-L-0A

    re#le"tan"e %en%or )

    https://www.pololu.com/product/2459https://www.pololu.com/product/960https://www.pololu.com/product/2456https://www.pololu.com/product/2454https://www.pololu.com/product/2454https://www.pololu.com/product/2454https://www.pololu.com/product/2454https://www.pololu.com/product/2459https://www.pololu.com/product/960https://www.pololu.com/product/2456https://www.pololu.com/product/2454https://www.pololu.com/product/2454

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    Inter%!cin7 it te @TR9,A Out+ut

    There are %e'eral 6a*% *ou "an inter#a"e 6ith the PTR-0A output(

    • %e a mi"ro"ontrollerX% analo&-to-di&ital "on'erter ADC to mea%ure the 'olta&e)

    • %e a "omparator 6ith an ad!u%ta2le thre%hold to "on'ert the analo& 'olta&e into a

    di&ital i)e) 2la"k6hite %i&nal that "an 2e read 2* the di&ital I> line o# a mi"ro"ontroller)

    • Conne"t the output dire"tl* to the di&ital I> line o# a mi"ro"ontroller and rel* upon it%

    internal "omparator)

    Thi% la%t method 6ill 6ork i# *ou are a2le to &et hi&h re#le"tan"e #rom *our 6hite %ur#a"e a%

    depi"ted in the le#t ima&e, 2ut 6ill pro2a2l* #ail i# *ou ha'e a lo6er-re#le"tan"e %i&nal pro#ile

    like the one on the ri&ht)

    @TR9,A out+ut ,B4 !!' %rom ! $+innin7ite di$k it ! b"!ck "ine on it

     

    @TR9,A out+ut /B4 !!' %rom ! $+innin7ite di$k it ! b"!ck "ine on it

    Inclue Comonents

    Thi% module ha% a %in&le mountin& hole intended #or a . %"re6 not in"ludedQ i# thi%

    mountin& hole i% not needed, thi% portion o# the CB "an 2e &round o## to make the unit e'en

    %maller) The re#le"tan"e %en%or %hip% 6ith a H-pin /)0 header %trip, 6hi"h "an 2e %oldered in

    the "on'entional perpendi"ular orientation or parallel to the CB, a% %ho6n 2elo6) You "an

    al%o %older 6ire%, %u"h a% ri22on "a2le, dire"tl* to the pad% #or the %malle%t in%tallation)

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    SM9S0/6/R $er=o

    De$cri+tion

    The SM-SFH/HR i% a %tandard-%i=ed %er'o that ha% 2een 2uilt 2* Sprin&RC %pe"i#i"all* #or"ontinuou% rotation, makin& it an ea%* 6a* to &et *our ro2ot mo'in&) It #eature% t6o 2all

     2earin&% on the output %ha#t #or redu"ed #ri"tion, and it o##er% ea%* a""e%% to the re%t-pointad!u%tment potentiometer) Thi% i% the mo%t popular "ontinuou% rotation %er'o 6e "arr*)

    O=er=ie

    The SM-SFH/HR i% a %tandard-%i=ed %er'o that ha% 2een 2uilt 2* Sprin&RC %pe"i#i"all* #or 

    "ontinuou% rotation) At 1 J, it ha% a maimum rotation %peed o# KF RM no-load and "an

     produ"e up to 0 o=-in K)0 k&-"m o# tor4ue) It #eature% t6o 2all 2earin&% on the output %ha#t

    #or redu"ed #ri"tion, and it o##er% ea%* a""e%% to the re%t-point ad!u%tment potentiometer) The

    %er'o "an 2e "ontrolled u%in& a dire"t "onne"tion to a %in&le mi"ro"ontroller I> line 6ithout

    an* additional ele"troni"%, 6hi"h make% it a &reat a"tuator #or 2e&inner ro2oti"% pro!e"t%)

    The SM-SFH/HR "ontinuou% rotation %er'o "on'ert% %tandard RC %er'o po%ition pul%e% into

    "ontinuou% rotation %peed) The de#ault re%t point i% 0)K m%, 2ut thi% "an 2e ad!u%ted 2* u%in& a

    %mall %lotted %"re6dri'er to turn the middle-point po%itioner) ul%e 6idth% a2o'e the re%t point

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