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--- en:projects:wheeled_robot [2010/04/13 06:09] – raivo.sell
+++ en:projects:wheeled_robot [2020/07/20 09:00] (current) – external edit 127.0.0.1
@@ Line 25: / Line 25: @@
   * Cannot exceed the cost limit 10 000 EEK
-~~PB~~
 ===== The overall model of the system  =====
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 [{{  :examples:projects:robot:robot_ideekavandid.png?500  |Design solutions}}]
-~~PB~~
 Simplified evaluation matrix was as following:
@@ Line 47: / Line 44: @@
 |Complexity of building		| 2 | 4 | 7 | 0,7 |
 |Maneuverability		| 4 | 8 | 8 | 0,5 |
-|Permeability/läbitavus?	| 5 | 8 | 2 | 0,3 |
+|Permeability            	| 5 | 8 | 2 | 0,3 |
 |Applicability of HomeLab	| 5 | 4 | 5 | 0,9 |
 |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.
-~~PB~~
 ===== 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 **ribakaabelühendusi**, while ensuring relatively simple changeability of modules. Motors have been selected from HomeLab kit: motors with integrated reducer and coder, which are connected directly to the actuator of the motors. Model aircraft wheels have been used, because they are very light and strong enough for the robot. To simplify the construction the bottom and the top plate are identical. Plates are equipped with holes, allowing different devices to be attached on the top plate. Besides the electronic modules a battery fits between the plates as well.
+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 ribbon cable connections, while ensuring relatively simple changeability of modules. Motors have been selected from HomeLab kit: motors with integrated reducer and coder, which are connected directly to the actuator of the motors. Model aircraft wheels have been used, because they are very light and strong enough for the robot. To simplify the construction the bottom and the top plate are identical. Plates are equipped with holes, allowing different devices to be attached on the top plate. Besides the electronic modules a battery fits between the plates as well.
 [{{  :examples:projects:robot:robot_3d.jpg?500  |Primary 3D model of the robot and location of its components. }}]
@@ Line 74: / Line 70: @@
 [{{  :examples:projects:robot:robot_electronics.png?500  |Block diagram of electronic components}}]
-~~PB~~
+<pagebreak>
 As an example, Line following sensors electric scheme and respective PCB assembly scheme of the robot's bumper is shown.
@@ Line 82: / Line 78: @@
 [{{  :examples:projects:robot:robot_pumper_pcb.png?500  |Assembly scheme of the bumper}}]
-~~PB~~
+<pagebreak>
 ===== Control system =====
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 //
-// Mainprogram
+// Main program
 //
 int main(void)
@@ Line 179: / Line 175: @@
 </code>
-~~PB~~
 ===== Ready-to-use solution =====
@@ Line 188: / Line 184: @@
 [{{  :examples:projects:robot:robot_camera.png?580  |Robot with intelligent camera module (CMUcam3)}}]
-~~PB~~
 ===== 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^
@@ 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.
-At the end of the work a fact revealed: inorder for the robot to function properly significantly more time should be planned for testing, especially for the software testing. Different modules may not always work properly together, although as a separate experiment it works. This shows that the integration of the modules of the system is a serious challenge, and therefore more time and resources should be planned for this.
+At the end of the work a fact revealed: in order for the robot to function properly significantly more time should be planned for testing, especially for the software testing. Different modules may not always work properly together, although as a separate experiment it works. This shows that the integration of the modules of the system is a serious challenge, and therefore more time and resources should be planned for this.
 In conclusion, we believe that the project was very interesting and instructive, it gave an indication how to design and construct integrated systems.
@@ Line 245: / Line 240: @@
   - HomeLab generic manual http://home.roboticlab.eu
-  - ATmega128 datasheet
+  - ATmega2561 datasheet
   - Dudziak, R., Köhn, C., Sell, R., Integrated Systems & Design, TUT Press, 2008
   - Friendenthal, S., Moore, A., Steiner, A., A Practical Guide to SysML, Elsevier, 2008
   - Perens, A. Project Management, Külim, 1999
   - Bräunl, T. Embedded Robotics, Springer-Verlag, 2003

en/projects/wheeled_robot.1271138951.txt.gz · Last modified: 2020/07/20 09:00 (external edit)