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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| en:projects:wheeled_robot [2010/03/29 19:49] – Helen | en:projects:wheeled_robot [2020/07/20 09:00] (current) – external edit 127.0.0.1 | ||
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| * Cannot exceed the cost limit 10 000 EEK | * Cannot exceed the cost limit 10 000 EEK | ||
| - | ~~PB~~ | ||
| ===== The overall model of the system | ===== The overall model of the system | ||
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| [{{ : | [{{ : | ||
| - | |||
| - | ~~PB~~ | ||
| Simplified evaluation matrix was as following: | Simplified evaluation matrix was as following: | ||
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| |Complexity of building | 2 | 4 | 7 | 0,7 | | |Complexity of building | 2 | 4 | 7 | 0,7 | | ||
| |Maneuverability | 4 | 8 | 8 | 0,5 | | |Maneuverability | 4 | 8 | 8 | 0,5 | | ||
| - | |Permeability/ | + | |Permeability |
| |Applicability of HomeLab | 5 | 4 | 5 | 0,9 | | |Applicability of HomeLab | 5 | 4 | 5 | 0,9 | | ||
| |Weight | 5 | 6 | 7 | 0,8 | | |Weight | 5 | 6 | 7 | 0,8 | | ||
| Line 56: | Line 53: | ||
| Based on the assessment the optimum solution for given task was proved to be a platform moving on two wheels with two separate motors. Further work continued developing the chosen solution into a real system. | Based on the assessment the optimum solution for given task was proved to be a platform moving on two wheels with two separate motors. Further work continued developing the chosen solution into a real system. | ||
| - | ~~PB~~ | ||
| ===== Mechanics ===== | ===== Mechanics ===== | ||
| - | Mechanics was tried to make as simple as possible, while following the principle of modularity. The front and the rear bumper are identical modules. Electronics have three modules, which are placed on top of each other, allowing simple | + | Mechanics was tried to make as simple as possible, while following the principle of modularity. The front and the rear bumper are identical modules. Electronics have three modules, which are placed on top of each other, allowing simple |
| [{{ : | [{{ : | ||
| Line 74: | Line 70: | ||
| [{{ : | [{{ : | ||
| - | ~~PB~~ | + | < |
| As an example, Line following sensors electric scheme and respective PCB assembly scheme of the robot' | As an example, Line following sensors electric scheme and respective PCB assembly scheme of the robot' | ||
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| [{{ : | [{{ : | ||
| - | ~~PB~~ | + | < |
| ===== Control system ===== | ===== Control system ===== | ||
| Line 119: | Line 115: | ||
| // | // | ||
| - | // Mainprogram | + | // Main program |
| // | // | ||
| int main(void) | int main(void) | ||
| Line 179: | Line 175: | ||
| </ | </ | ||
| - | ~~PB~~ | + | |
| ===== Ready-to-use solution ===== | ===== Ready-to-use solution ===== | ||
| Line 188: | Line 184: | ||
| [{{ : | [{{ : | ||
| - | ~~PB~~ | ||
| ===== Economic calculation ===== | ===== Economic calculation ===== | ||
| - | Economic calculation includes the cost of components and robot production costs | + | Economic calculation includes the cost of components and robot production costs. The currency used in following tables is Estonian Kroon (EEK). |
| - | Tabel of components cost | + | Table of components cost |
| ^Component^Mark^Quantity^Price^Cost^ | ^Component^Mark^Quantity^Price^Cost^ | ||
| Line 238: | Line 233: | ||
| Economic calculation showed that the production cost of the robot is quite high, especially when dealing with a single original, but remains within a predetermined initial task. Production costs could certainly be substantially reduced through the optimization of materials and components, and producing a larger quantity of robots at the same time. During this project we learned how to project a mechatronic system, how to construct and test it, which gave us the first time experience of this kind. | Economic calculation showed that the production cost of the robot is quite high, especially when dealing with a single original, but remains within a predetermined initial task. Production costs could certainly be substantially reduced through the optimization of materials and components, and producing a larger quantity of robots at the same time. During this project we learned how to project a mechatronic system, how to construct and test it, which gave us the first time experience of this kind. | ||
| - | At the end of the work a fact revealed: | + | At the end of the work a fact revealed: |
| In conclusion, we believe that the project was very interesting and instructive, | In conclusion, we believe that the project was very interesting and instructive, | ||
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| ===== References and materials used ===== | ===== References and materials used ===== | ||
| - | - Home Lab generic manual http:// | + | - HomeLab |
| - | - ATmega128 | + | - ATmega2561 |
| - Dudziak, R., Köhn, C., Sell, R., Integrated Systems & Design, TUT Press, 2008 | - Dudziak, R., Köhn, C., Sell, R., Integrated Systems & Design, TUT Press, 2008 | ||
| - Friendenthal, | - Friendenthal, | ||
| - Perens, A. Project Management, Külim, 1999 | - Perens, A. Project Management, Külim, 1999 | ||
| - Bräunl, T. Embedded Robotics, Springer-Verlag, | - Bräunl, T. Embedded Robotics, Springer-Verlag, | ||
