Wireless Bomb Disposal Robot Report

WIRELESS BOMB DISPOSAL ROBOT
A PROJECT REPORT ON
“WIRELESS BOMB DISPOSAL ROBOT”

By
Mr.Akshay A Waman Mr.Yash G Thube
Mr.Sagar P Jagtap Mr.Atul G Waghaskar
GUIDE
Prof.Rahul Salvi
DEPARTMENT OF MECHANICAL ENGINEERING

VISHWABHARTI ACADEMY’S COLLEGE OF
ENGINEERING
[2018-19]
Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Page 1
VISHWABHARTI ACADEMY’S COLLEGE OF ENGINEERING
CERTIFICATE
THIS IS TO CERTIFY THAT MR.(THUBE YASH, JAGTAP SAGAR, WAMAN AKSHAY, WAGHASKAR
ATUL) HAS SUCCESFULLY COMPLETED THE PROJECT STAGE-I ENTITLED “(WIRELESS BOMB
DISPOSAL ROBOT)” UNDER MY SUPERVISION, IN THE PARTIAL FULFILLMENT OF BACHELOR
OF ENGINEERING - MECHANICAL ENGINEERING OF UNIVERSITY OF PUNE.
DATE:
PLACE:
Prof.Rahul Salvi
Guide Internal Examinar
Prof.B.N.Kharad Dr.P.A.Makasare
Head of the Department Principal
External Examinar
Seal
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ACKOWLEDGEMENT
I would like to express my gratitude to all those who helped me to complete this work. I want to thank
project guide Prof.Rahul Salvi sir for his continuous help and generous assistance. He helped in a broad
range issues from giving me direction, helping to find the solution, outlining the requirements and always
having the time to see.
I have further more to thank Prof.B.N.Kharad sir Head of Department of Mechanical Engineering, to
go ahead and for continuous guidance.
I would like to thank my collegeous who helped me time to time from preparing report and giving good
suggestions. I also extend sincere thanks to all the staff members of Department of Mechanical Engineering
for helping me in various aspects.
Last but not least I am grate full to Prof. Dr.P.A.Makasare sir, Vishwabharati Academy’s College Of
Engineering, A.Nagar for all their encouragement.
Student Name Signature
MR.AKSHAY ANKUSH WAMAN

MR.YASH GORAKHNATH THUBE
MR.SAGAR PANDURANG JAGTAP
MR.ATUL GULAB WAGASKAR

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INDEX
Sr. No. Chapter Page No.

1 List Of Figures 5
2 List of Tables 6
3 Abstract 7 to 8
4 Introduction 9 to 11
5 Literature review 12 to 13
6 Basic principal of wireless bomb 14 to 15
disposal robot
7 Component of wireless bomb 16 to 32
disposal robot
8 Specification 33 to 35
9 Working of wireless bomb 36 to 38
disposal robot
10 Calculation 39 to 44
11 Future Enhancement 45 to 47
12 Cost estimation 48 to 50
13 Application 51
14 Advantages& Disadvantages 52
15 Conclusion 53
16 Future scope 54
17 Photograph 55
18 Reference 56

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LIST OF FIGURE
Fig. No Name of figure Page no.
4.1 2D Sketch of WDBR 14
4.2 PVC Pipe 16

4.3 90 Degree PVC Elbow 17
4.4 45 Degree PVC Elbow 17
4.5 Hose clip PVC Pipe clamp 18

4.6 Iron plate pieces 19
4.7 PVC Pipe coupling 20

4.8 DC Metal Gear Motor 20
4.9 Wire 21
4.10 Screw and Nut 22
4.11 12V Battery 22

4.12 Robotic Arm 23
4.13 Motor Shield 24
4.14 Arduino Circuit 24
6.1 Arduino with motor shield 29
7.1 Tilt angle and wheel base 32
7.2 Link calculation 33

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LIST OF TABLE
Table no. Name of table Page no.
4.1 Component of Wireless Bomb Disposal 15

Robot
6.1 Bluetooth control 30
7.1 Wheel design 31
8.1 Machining Process 35
8.2 Operation sheet 35
9.1 Material rates 37
9.2 Machining Rates 37
9.3 Component cost 38

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ABSTRACT
Nowadays bomb disposal and diffusing has become a very critical and hazardous method to human’s life, In
order to overcome from this we are going to introduce a concept based on wireless bomb disposal robot. In
this the bomb is disposed using the robot which will be controlled through the wireless control module .The
control module consist of a transmitter and the Actual Robot consists of the receiver module .The receiver
module is said to interfaced with an ARDUINO UNO R3 board .The Robot functions accordingly to the
input given via the transmitter .The control module contains a LCD display which is interfaced with a
wireless video receiver which receives video signal from the wireless camera. The wireless camera is said to
be placed in the robot near the arm which houses the center shaft motors used for the actual diffusion
purpose so that the video captured can be viewed in the LCD display which is placed in the control module.
When the robot goes near the bomb, based on the input given from the control module the bomb can be
diffused and disposed using the robotic arm. Keywords: Control module, bomb detection, robotic arm, LCD
display.
This system is design to develop wireless bomb disposal robot which will help to amendment defense of
our nation from terrorist, suicide bombers and other such activities. The bomb detectors and disposal system
concern only with the present of experts. But this method of analyzing takes more time and bomb disposal
with bare hand make danger to life of expert. The main idea behind our system is to purveyance a line of
defense to a bomb disposal squad against the existence threatening risk, faced by a bomb disposal squad in
the incident of a blast. Our system is represented the definition something guided by automatic controls. The
robot that we have constructs is guided by controls that take input from a human and perform reliable action
based on these input. The Wireless Bomb Disposal Robot has control application as well as user application,
control application curb the robot remotely using Wireless technology. The bomb squad controls the robot
remotely using application at control site. Input from the user is send over Wi-Fi control to the Receiver
side, where it is received, identified and given to the appropriate module (Robot) to act. The robot to be
composed of a Robotic Arm, Jaw, a Robotic Base, and Wireless camera on it. For the elbow and gripper of
robotic arm we have used DC motors. Our system provides the squad a secure distance to dispose off a
bomb, which bomb disposal squad normally has to do with his bare hands. Hence introducing the innocuous
way for disposing the fulminant to save life of common people.

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The various developments in the field of robotics are advancing rapidly as the trend of the industry is
moving from the current state of automation to robotization. The Wireless Bomb Disposal Robot is a
command and control robot which takes commands from the user in the form of control signals and performs
the required action. This system makes use of robotic arm as well as robotic vehicle which helps to enter an
area involving high risk and also to pick, move and drop an object. The system also includes night vision
camera which allows viewing and recording in day time and night. The whole system is controlled via RF
remote which generates commands for the receiving circuit mounted on the vehicle through push buttons.
The receiving circuit involves 8051 microcontroller and a receiver which receives commands sent by the
transmitting circuit. The user needs to press the push buttons for moving the vehicle in whichever direction
he wants i.e. forward, backward, right or left direction. In order to make the arm movement, the user needs
to long press the forward and backward push buttons. The proposed system is very beneficial in areas where
there is high risk for humans to enter.
 Project Associates:-
 Mr.Akshay.A.Waman
 Mr.Yash.G.Thube
 Mr.Sagar.P.Jagtap
 Mr.Atul.G.Wagaskar

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CHAPTER NO.1
1.1 INTRODUCTION
1.1.1 Goals and Objectives:

The main goal of the project is to provide safety to the bomb disposal squad by providing
An extra line of defense.
1.1.2 Objectives:
 Provide a remote monitoring and controlling application for analysis of a suspicious
(Or bomb).
 Allow the user to manipulate the packet using the robotic arm.
 To provide visual feedback from the site of the packet.
 To provide a very user-friendly control application.
1.1.3 System Statement of Scope:
The Wireless Bomb Disposal Robot uses a control application, at the user end to control the Robot remotely
using Wireless technology. The bomb technician controls the robot using this Application. Input from the
user is transmitted serially over an RF link to the Robot, where it is received, identified and relayed to the
appropriate module.
The input to the system is from the user. This input is first processed at the control application, serially
transmitted over a Radio Link. This input is then received at the robot and processed again. The output of the
system is the processed signal to the appropriate module. This module can be a motor of the base of the
robot or the robotic arm.
1.1.4 Major Inputs and Outputs:

 Input Signals
 Movement of Robotic Arm
 Movement of Base

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We have designed it as an assistant robot to the bomb disposal squad but there are a number of other
applications of this robot. It can be used by:
Police: In hostage situations
Military: For reconnaissance missions
Fire: To provide video feedback of the site for analysis
Nuclear: For handling hazardous or radioactive materials.

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1.2 THEORETICAL BACKGROUND OF PROJECT

The project has been designed keeping in view the current law and order situation in India and throughout
the world. Everyday hundreds of trained personnel are either injured or lose their lives while defusing
bombs. This can be reviewed by the countless number of news items appearing daily in newspapers around
the world. These include the TOI of 19th JAN 2010. Although the idea of our project is original, a number of
projects with similar functionalities can be found. For Example the British Police have a bomb disposal
robot, the Israeli Army has it and it is also being used by bomb disposal squads and a number of states of
USA. The main idea of this robot is to provide the bomb disposal squad with safety and security from the
risks that they face every day. The bomb disposal squads of Pune have metal detectors and other equipment
for bomb detection and disposal, but they have to risk their lives by approaching the bomb or the suspicious
packet without any safety and precautions.
Our robot provides an extra layer of protection to the bomb disposal squad by allowing them to check and
analyze a suspicious packet before actually approaching it for disposal. Mobile robots reduce or eliminate a
bomb technician’s time-on-target. A robot takes risk out of potentially deadly scenarios and lets the bomb
technician focus on what to do to an explosive device rather than on the immediate danger to life and limb.
Even if a robot cannot reach an item for disruption, it can still be used to relay information to aid in tool and
procedure selection to moving downrange. In addition, events recorded by a robot’s camera can provide
evidence for further analysis.

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CHAPTER NO.2
2.1 LITERATURE REVIEW
The concept of our research work is to create a robot drive system based on those of NASA. The
Grey- based Taguchi Method was adopted for providing an optimal setting for the design parameters of
the robot. The robot prototype was shown to have successfully scaled stairs of varying dimensions, with
overhang, thus corroborating the analysis performed.
An analysis method to make the robot can climb up a stair was achieved in the work. The east coast
of Malaysia faced a massive flood from heavy downpour, lead into huge flood damage and caused
irreparable loss to life and property. The flood carries the debris, soil and trees along their path,
damaging the road and building structure, leaving the road become uneven. This situation gives
difficulty to task force bearing aids during the post disaster management.
The research paper proposed an intelligent inclined motion control of an amphibious vehicle while
moving on uneven terrain surface .It was basically a suspension arrangement used in mechanical robotic
vehicles used specifically for space exploration. The rocker-bogie suspension based rovers has been
successfully introduced for the Mars Pathfinder and Mars Exploration Rover (MER) and Mars Science
Laboratory (MSL) mission conducted by apex space exploration agencies throughout the world. The
proposed suspension system was currently the most favored design for every space exploration
company indulges in the business of space research.
The motive the research initiation was to understand mechanical design and its advantages of Robot
suspension system in order to find suitability to implement in conventional loading vehicles to enhance
their efficiency and also to cut down the maintenance related expense of conventional suspension
system. The world market of mobile robotics was expected to increase substantially in the next 20 year,
surpassing the market of industrial robotics in terms of units and sales.

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Important fields of application are homeland security, surveillance, demining, and reconnaissance
in dangerous situations, and agriculture. The design of the locomotion system of mobile robots for
unstructured environment was generally complex, particularly when they were required to move on
uneven or soft terrains, or to climb obstacles.
The three main categories of locomotion systems (Wheeled- W, tracked- T and legged- L) and the
four hybrid categories that can be derived by combining these main locomotion systems were discussed
with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope
climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy
efficiency, mechanical complexity, control complexity and technology readiness. The current and future
trends of mobile robotics were discussed.

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CHAPTER NO.3
3.1 BASIC PRINCIPAL OF WIRELESS BOMB DISPOSAL ROBOT

The WIRELESS BOMB DISPOSAL ROBOT design consisting of no springs and stub axles in each wheel
which allows the chassis to climb over any obstacles, such as rocks, ditches, sand, etc. that are up to double
the wheel's diameter in size while keeping all wheels on the ground maximum time. As compared to any
suspension system, the tilt stability is limited by the height of the center of gravity and the proposed system
has the same.
Systems employing springs tend to tip more easily as the loaded side yields during obstacle course.
Dependent upon the center of overall weight, any vehicle developed on the basis of Rocker bogie suspension
can withstand a tilt of at least 50 degrees in any direction without overturning which is the biggest advantage
for any heavy loading vehicle.
The system is designed to be implemented in low speed working vehicles such as heavy trucks, Bulldozers
which works at slow speed of around 10 centimeters per second (3.9 in/s) so as to minimize dynamic shocks
and consequential damage to the vehicle when surmounting sizable obstacles.

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 2D SKETCH/ BLOCK DIAGRAM
Fig 3.1. 2D SKETCH OF RBM

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CHAPTER NO.4
4.1 COMPONENT OF WIRELESS BOMB DISPOSAL ROBOT

Table no: 4.1
SR.NO PART NAME QUANTITY
1  PVC pipe:
I. Pipe(18cm) 2
II. Pipe(15cm) 2
III. Pipe(13cm) 4
IV. Pipe(10cm) 2
V. Pipe(9cm) 2
VI. Pipe(5cm) 2
2 90-degree PVC Elbow 6
3 45-degree PVC Elbow 6
4 Hose Clip PVC Pipe Clamp 6
5 Metal or Hard plastic plate& Glass Pad 4+1 (pad)
6 PVC Pipe Coupling 2
7 12V DC Metal Gear Motor 6
8 Wire -
9 Nuts and Bolts 12
10 12V DC Battery 1
11 Arduino Circuit 2
12 Robotic Arm 1
13 Servomotor 3

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4.2 COMPONENT OF WIRELESS BOMB DISPOSAL ROBOT
4.2.1 PVC PIPE :
A pipe is a tubular section of hollow cylinder, usually but not necessarily of circular cross section.
It can also be used for structural application. Pipe is made out of many types of materials including
ceramic, glass, fiberglass, many metals, concrete and plastic. For this purpose, we use “polyvinyl
chloride” (PVC) because it is light in weight. It can be use for making structure of “Wireless Bomb
Disposal Robot”. There are various sizes of pipe can be used like 18cm,15cm,13cm,10cm, 9cm, 5cm
etc.
Fig.No.4.2.1 PVC PIPE

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 90 & 45 -DEGREE PVC ELBOW :

An elbow is installed between two length of pipe to allow a change of direction, usually a 90 or 45
degree Elbow are also categorized by length. The radius of curvature of a long-radius (LR) elbow is 1.5
times the pipe diameter, but a short-pipe radius (SR) elbow has a radius equal to pipe diameter. They are
available in acrylo nitrile butadiene styrene (ABS plastic), polyvinyl chloride (PVC) & copper.
According to above information we use “PVC” elbow.
Fig.No.4.2.1.1 90DEGREE PVC ELBOW
Fig.No.4.2.1.2 45 -DEGREE PVC ELBOW

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4.3.1 Hose Clip PVC Pipe Clamp :
A hose clip is a device used to attach and seal a hose on to a fitting such as barb. Hose clip material
are W1 (zinc plated), W4 (304 Grade Stainless steel), W5 (316 Grade Stainless steel). We have used
hose clip of material –W4 (304 Grade Stainless steel), because it have high corrosion resistance making
them suitable for outdoor application as well as having good general corrosion resistance to slightly
acidic as well as caustic media. It chemical composition is approximately 18% chromium & 8% nickel
by weight. This material is magnetic. It is used in our mechanism for attach a motor to pipe.
Fig. No. 4.3.1 HOSE CLIP PVC PIPE CLAMP
4.4.1 Metal or Hard plastic plate :

Plate is rectangular flat metal stock that is more than 6mm or 0.25mm in thick, not as thin as sheet
metal. There are various type of material can be used for metal plate, like aluminium, iron, stainless
steel, copper, & brass. But according to our project we have using iron plate. Iron plate has better
properties rather than other properties.

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Iron has properties as follows as:
 It is silvery white.
 Its melting point is 666 degree Celsius.
 It has high electrical and thermal conductivity & high corrosion resistance properties.
 It has good machinability, formability, workability and cast ability & it is non- magnetic.
 It has low hardness.
According to above properties, low hardness properties are use full for our project for selecting
metal plate. Because of this plate can be easily drilled. It has silvery white look so it is look pleasing.
We are using this plate pieces for joining the link of structure.
Fig No.4.4.1. IRON PLATE PIECES
4.5.1 PVC Pipe Coupling :

Coupling is very short length of pipe with the socket at the one or both the end that allows two
pipes or tubes is to be joined, welded together. This coupling is available in various material but we
used PVC coupling for PVC pipe. This can be used in our project for connecting two link of pipe. This
is used at the place where metal strip connect one pipe to another pipe.

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Fig.No.4.5.1 PVC PIPE COUPLING
4.6.1 12V DC Metal Gear Motor :

A DC motor is any of a class of rotary electrical machine that converts direct current electrical
energy into mechanical energy. We used gear motor for project because it adds mechanical gears to alter
the speed/ torque of the motor for an application. This concept where gears reduce the speed of the
vehicle but increases torque is knows as gear reduction. It has three gears in the assembly for speed
controlling. We used this motor for our project for special speed requirement. We use DC gear motor of
3o rpm according to our project calculation.
Fig.No.4.6.1 12V DC METAL GEAR MOTOR

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4.7.1 Plain Wire :

Plane wire is a wire is in the form circular coil. Because of this it has ability to extend when it is
stretched & regain its original size when load is release. This can be used in our project for making
connection between circuit and DC gear motor. Purpose of this wire in the project for providing
flexibility in mechanism. When front moves in forward direction then, There is tension created in wire
to wire may get damaged or there is a breakages in connection of wire and circuit.
Fig.No.4.7.1 PLAIN WIRE
4.8.1 Nuts and Bolts :

Nut is a type of fastener with a threaded hole. Nuts are almost always used in conjunction with a
mating bolt to fasten multiple parts together. There are various types of nuts but we using ‘hexagonal
nut’. A bolt is a form of threaded fastener with an external male thread. Bolts are closely related to
screws. There are various types of bolts but we using ‘countersunk bolt’ for the assembly. We using the
nut and bolt for the assembly is made up of steel.

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Fig No.4.8.1 SCREW AND NUT
4.9.1 12V Battery :

It is used for giving power supply to the circuit. We are choosing automobile battery for our project.
The battery is 12 volt and 5 Amp. Capacity.
Fig.No.4.9.1 12 V Battery

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4.10.1 Arduino Motor Shield :
The Arduino Motor Shield is based on the L298 (datasheet), which is a dual full-bridge driver
designed to drive inductive loads such as relays, solenoids, DC and stepping motors. It lets you drive
two DC motors with your Arduino board, controlling the speed and direction of each one
independently. You can also measure the motor current absorption of each motor, among other
features. The shield is Tinker Kit compatible, which means you can quickly create projects by
plugging Tinker Kit modules to the board.
 Power :
The Arduino Motor Shield must be powered only by an external power supply. Because the L298 IC
mounted on the shield has two separate power connections, one for the logic and one for the motor
supply driver. The required motor current often exceeds the maximum USB current rating. External
(non-USB) power can come either from an AC-to-DC adapter (wall-wart) or battery. The adapter can
be connected by plugging a 2.1mm center-positive plug into the Arduino's board power jack on
which the motor shield is mounted or by connecting the wires that lead the power supply to the VIN
and GND screw terminals, taking care to respect the polarities. To avoid possible damage to the
Arduino board on which the shield is mounted, we recommend using an external power Supply that
provides a voltage between 7 and 12V. If your motor require more than 9V we recommend that you
separate the power lines of the shield and the Arduino board on which the shield is mounted. This is
possible by cutting the "Vin Connect" jumper placed on the back side of the shield. The absolute
limit for the VIN at the screw terminals is 18V. The power pins are as follows: VIN on the screw
terminal block is the input voltage to the motor connected to the shield. An external power supply
connected to this pin also provides power to the Arduino board on which is mounted. By cutting the
"Vin Connect" jumper you make this a dedicated power line for the motor. GND Ground on the
screw terminal block. The shield can supply 2 amperes per channel, for a total of 4 amperes
maximum.

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Fig.No.4.10.1 MOTOR SHIELD
4.11.1 ARDUINO CIRCUIT :
Arduino is used for building different types of electronic circuits easily using of both a physical
programmable circuit board usually microcontroller and piece of code running on computer with USB
connection between the computer and Arduino. Programming language used in Arduino is just a
simplified version of C++ that can easily replace thousands of wires with words.
 Peripheral Features
1 Two 8-bit Timer/Counters with Separate Prescaler and Compare Mode
2 One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode
3 Real Time Counter with Separate Oscillator o Six PWM Channels
4 8-channel 10-bit ADC in TQFP and QFN/MLF package o Temperature Measurement
5 6-channel 10-bit ADC in PDIP Package o Temperature Measurement
6 Programmable Serial USART
7 Master/Slave SPI Serial Interface
8 Byte-oriented 2-wire Serial Interface (Philips I2 C compatible)
9 Programmable Watchdog Timer with Separate On-chip Oscillator

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10 On-chip Analog Comparator o Interrupt and Wake-up on Pin Change
4.12. Special Microcontroller Features :
 Power-on Reset and Programmable Brown-out Detection

 Internal Calibrated Oscillator
 External and Internal Interrupt Sources
 Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby, and
Extended Standby
 I/O and Packages
 23 Programmable I/O Lines o 28-pin PDIP, 32-lead TQFP, 28-pad QFN/MLF and 32-pad
QFN/MLF
4.13 Operating Voltage :
 1.8 - 5.5V
 Temperature Range:
 -40°C to 85°C
 Speed Grade: 0 - 4 MHz@1.8 - 5.5V, 0 - 10 MHz@2.7 - 5.5.V, 0 - 20 MHz @ 4.5 - 5.5V
 Power Consumption at 1 MHz, 1.8V, 25°C
 Active Mode: 0.2 mA o Power-down Mode: 0.1 µA o Power-save Mode: 0.75 µA (Including 32
kHz RTC)

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Fig.No.4.11.1 ARDUINO CIRCUIT
4.14.1 Robotic Arm :

A robotic arm is a type of mechanical arm, usually programmable, with similar
Functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more
complex robot. The links of such a manipulator are connected by joints allowing either rotational
motion (such as in an articulated robot) or translational (linear) displacement. The links of the
manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the
manipulator is called the end effectors and it is analogous to the human hand.

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Fig.No.4.14.1 ROBOTIC ARM
4.15. DC servomotor :
A servomotor is a closed-loop servomechanism that uses position feedback to control its motion and ﬁnal
position. The input to its control is a signal (either analogue or digital) representing the position commanded
for the output shaft. The motor is paired with some type of encoder to provide position and speed feedback.
In the simplest case, only the position is measured. The measured position of the output is compared to the
command position, the external input to the controller. If the output position differs from that required, an
error signal is generated which then causes the motor to rotate in either direction, as needed to bring the
output shaft to the appropriate position. As the positions approach, the error signal reduces to zero and the
motor stops.
The very simplest servomotors use position-only sensing via a potentiometer and bang-bang control of their
motor; the motor always rotates at full speed (or is stopped). This type of servomotor is not widely used in
industrial motion control, but it forms the basis of the simple and cheap servos used for radio-controlled
models.

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Fig.No.4.15.DC SERVOMOTOR
4.16 .Jaws :
It is most important part of our project which function is to dispose the bomb by moving the jaws in inward
outward motion and it is operated using various servomotor.
Fig.no. 4.16 JAWS

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PROGRAM FOR ARDUINO

/*#include <AFMotor.h>
AF_DCMotor motor1(1); //Set Motor (1 = M1, 2 = M2, 3 = M3, 4 = M4)
AF_DCMotor motor4(4);
Void setup () {
Void loop () {
motor1.run (FORWARD); //FORWARD = PIN A / BACKWARD = PIN B
motor1.setSpeed (255); //Set motor speed
motor4.run (FORWARD); //FORWARD = PIN A / BACKWARD = PIN B
// motor1.run (BACKWARD); //FORWARD = PIN A / BACKWARD = PIN B
motor4.setSpeed (255); //Set motor speed
// motor4.run (BACKWARD); //FORWARD = PIN A / BACKWARD = PIN B
}*/
#include <AFMotor.h>
AF_DCMotor motor1(1); //Set Motor (1 = M1, 2 = M2, 3 = M3, 4 = M4)
AF_DCMotor motor4(4);
char t;

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void setup() {
motor4.setSpeed(255);
motor1.setSpeed(255);
Serial.begin(9600);
void loop() {
if(Serial.available()){
t = Serial.read();
Serial.println(t);
if(t == 'a'){
motor1.run(FORWARD);
motor4.run(FORWARD);//move forward(all motors rotate in forward direction)
else if(t == 'e'){
motor1.run(BACKWARD);
motor4.run(BACKWARD); //move reverse (all motors rotate in reverse direction)

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else if(t == 'd'){ //turn right (left side motors rotate in forward direction, right side motors doesn't rotate)
else if(t == 'b'){ //turn left (right side motors rotate in forward direction, left side motors doesn't rotate)
else if(t == 'c'){
motor1.run(RELEASE);
motor4.run(RELEASE);
//STOP (all motors stop)
delay(100);

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CHAPTER NO.5
5.1 SPECIFICATION
5.1.1 PVC PIPE :
Length: 1) 20 cm (2)
2) 17 cm (2)
3) 15 cm (4)
4) 12 cm (2)
5) 11 cm (2)
6) 7 cm (2)
Diameter: 3.2 cm
Material: UPVC material
5.1.2 90 DEGREE & 45 DEGREE PVC ELBOW :
Diameter: 4.2 cm
Material: UPVC material
5.1.3 HOSE CLIP PVC PIPE CLAMP :

Diameter: 40 mm
Material: stainless steel=W4 (304 Grade Stainless steel)

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5.1.4 METAL PLATE :
Length: 153 mm
Width: 25 mm
Thickness: 3 to 5 mm
5.1.5 PVC PIPE COUPLING :
Length: 60mm
Diameter: 32mm
Material: UPVC
5.1.7 12 DC METAL GEAR MOTOR :
Speed : 30 rpm
Gear used: Helical gear
Shaft length: 20 mm
Casing: Plastic & sheet metal
5.1.8 POWER SUPPLY :
Supply type: a) Power bank, b) 12 volt 5 Amp battery
a) Power bank :
Capacity: 10,000 mah
Weight: 250 gm

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b) 12 .4 volt 5 amp battery:
Capacity: 62 watt weight: 1950 gm
5.1.9 Wheel :
Wheel diameter with grip = 95 mm
Wheel diameter without grip = 85 mm
Wheel width = 20mm
5.1.10 Top Platform :
Length of the top platform =110 mm
Width of the top platform = 100 mm

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CHAPTER NO.6
6.1 WORKING OF WIRELESS BOMB DISPOSAL ROBOT
6.1.1 Front wheels :
6 To go over an obstacle the front wheels are forced against the obstacle by the rear wheels.
7 The rotation of the front wheel then lifts the front of the vehicle up and over the obstacle.
8 The middle wheel pressed against the obstacle by the rear wheel and pulled against the obstacle by the
front, until it is lifted up and over.
9 Finally, the rear wheel is pulled over the obstacle by the front two wheels.
10 During each wheel’s traversal of the obstacle, forward progress of the vehicle is slowed.
6.1.2 Rear wheels :
11 When a wheel climbs up a step (say the rear wheel), the front and middle wheel are being pushed
backwards and this would result in wheel slippage. This problem can be improved by lowering the
bogie pivot below the front wheel axis.

Page 36
6.2 ARDUINO CIRCUIT& MOTOR SHIELD
6.2.1 For Wheel :
Fig.No.6.2.1 ARDUINO WITH MOTOR SHIELD

Page 37
6.2.2 For Robotic Arm :
Fig.No.6.2.2 ROBOTIC ARM CIRCUIT

Page 38
4.6.1 WORKING OF THE WIRELESS BOMB DISPOSAL ROBOT WITH

THE HELP OF THE APPLICATION
Before starting running, firstly connect the Bluetooth module with mobile. Then open the
application, touch on Bluetooth option & select Bluetooth module code. After that, model is ready
for running.
Table No.4.6.1
ACTION EFFECT
Touch on forward Both motors forward, Robot moves forward.
Touch on left Right motor forward, left motor reverse &

Robot turns left.
Touch on right Right motor reverse, left motor forward &Robot turns right.
Touch on reverse Both the motors reverse & Robot moves

Backward.
Touch on scale 1 Robotic arm 1 moves in upward direction & Robotic arm 2
moves downward.
Touch on scale 2 Jaws moves inward & backward

Page 39
CHAPTER NO.7
7.1 CALCULATION
7.1.1 Wheel design :
For the wheel design, using the formula of velocity. Find out the wheel diameter on the basis of
velocity & speed which is considerable.
𝜋.𝐷.𝑁
V= 60
Table No.7.1.1
Velocity 8 cm/sec Velocity 10 cm/sec Velocity 12cm /sec

RPM (N) DIAMETER RPM (N) DIAMETER RPM (N) DIAMETER
10 15.277 10 19.096 10 22.915
20 7.638 20 9.548 20 11.458
30 5.092 30 6.345 30 7.638
40 3.819 40 4.774 40 5.729
50 3.055 50 3.819 50 4.583
We have to chosen 30 rpm motor, from the above the table, for 12 cm/sec, the wheel diameter is 76.38 mm,
but we used 85 cm diameter wheel for the model because of the availability.

Page 40
7.1.2 Calculation of “Tilt Angle” and “Wheel Base” :
7.1.2 Calculation of Tilt Angle & Wheel Base

Consider, step height & length
Height -20 cm
Length – 67 cm
7.1.3 TO FIND OUT TILT ANGLE :
𝑦
Tilt angle (θ) : 𝑡𝑎𝑛−1(𝑥 )
= 𝑡𝑎𝑛−1(20/67)
= 16.62
7.1.4 WHEEL BASE :

=Total length (radius of front + radius of rear wheel)
= 67 – (8.5+8.5)
= 50 cm

Page 41
7.1.3 Calculation of the link :
Fig.No.7.1.3 Calculation of link
7.1.3.1 LENGTH OF THE LINK AC :
In ∆BAC, By Pythagoras theorem

𝐵𝐶 2 =𝐴𝐵 2 + 𝐴𝐶 2
𝐵𝐶 2 =𝐴𝐵 2 +𝐴𝐵 2 ……. (AB=AC)
∴ 502 = 2𝐴𝐵 2
∴2500= 𝐴𝐵 2
2
∴AB=AC=35.35

Page 42
7.1.3.2 LENGTH OF THE LINK DB :
In ∆BDE, By Pythagoras theorem

∴ 𝐵𝐸 2 =𝐵𝐷2 + 𝐷𝐸 2
∴ 𝐵𝐸 2 =𝐵𝐷2 +𝐵𝐷2 …… (BD=DE)
∴ 262 = 2𝐵𝐷2
∴676 = 𝐵𝐷2
2
∴BD=DE =35.35

Page 43
CHAPTER NO.8
8.1 MACHINING PROCESS USED DURING THE ENTIRE PROJECT

Table 8.1
sr. no. Machine used For process

1. Cutting Machine For cutting the pipe
2. Drilling Machine For drilling hole in pipe

3. Soldering Gun For soldering the wire
8.1.2OPERATION SHEET :
 Detail Operation sheet :

Table No.8.1.2
Sr no. Operation Machine Tool used Description

1 Cutting Hack saw Blade Cutting the pipe according
to dimension.
2 Drilling Drill machine Drill bit Drill a hole for fastening a

nut and screw for
connecting a links.
3 Soldering Soldering gun Aluminum wire Connecting the wire to the

motor terminals for giving
power supply.

Page 44
8.1.3 SALIENT FEATURES :
1. Minimum manpower is required.

2. Simple in operation.
3. Minimum cost.
4. No hydraulic or pneumatic based power required.
5. Mechatronic based operation.
6. Suspension free model.
7. Simple in construction.
8. Operation with minimum vibration.

Page 45
CHAPTER NO.9
9.1 Future Enhancements

The system that we have built is a working prototype of a robot, which should be compact, fast and accurate.
This prototype may not have the features and reliability of the original design. It is only being developed to
ensure that the design is feasible, not impractical and can be implemented on a much larger scale in a more it
can still perform some level of object manipulation. Hence the future enhancements may include a much
efficient way.
At present, the robot is not a very maneuverable machine that is it may not provide the efficiency to cope
with the complex objects or it may not have the capability to maneuver into small places, which is necessary
requirement. But it can be used to design such a robot, which can be small in size, fast and accurate in its
movements. The gripper as compared to the ones, made by professional companies is not very efficient. But
smaller, faster, more reliable machine. It may have the ability to handle a much wider range of objects and
the ability to maneuver them to much safer places. Some of these enhancements are described below.
9.1.1 Compact Design :

A compact design results in a much faster motion and thus increases the accuracy and efficiency. Therefore
the robot can be enhanced to be of much smaller size for the purpose of a faster and accurate operation.
Compact design is also required where the situation demands the robot to reach for small places. For
example, in the aftermath of an earth quake, the robot has to search for people trapped under the rubble. It
has to enter holes where humans cannot enter. Hence a compact robot will easily do the job.
9.1.2 Quick Movement :

Being a bomb disposal robot, it requires very fast movement. This is required as the bomb disposal squad
have very little time in checking out the bomb and then defusing it. Therefore a fast robot is necessary to be
successfully used as a Bomb Disposal Robot.

Page 46
9.1.3 Improved Reliability :

At the moment the turning mechanism of the robot is based on the DC motor, which is not that accurate.
Also the shoulder of the robotic arm or the base of the robotic arm also depends on the motion of a DC
motor, which is not very feasible for the accurate motion of the robotic arm, which is necessary. The robot
can be improved to be more reliable and accurate by installing stepper motors instead of the DC motors,
which are more accurate and also have the feature of the holding torque, which enables the movement of
heavy object with ease.
9.1.4 Removable Gripper/Multi-Gripper Robotic Arm :

The gripper attached to the robotic arm is fixed at the moment that is, it will only work with the specific
shaped of objects. Placing a gripper that can be removed and replaced by another gripper can solve this
problem or a multi gripper robotic arm can be developed with more than 2 types of grippers for different
type of materials and for different shaped of the objects. This will enable the robotic arm to grip and move
objects, which are complex and cannot be easily moved with a single or a basic gripper.
9.1.5 Artificial Intelligence :

At present the robot does not have the capability to make decisions on its own that is there is no built in
artificial intelligence in it. Therefore the robot’s working is based purely on the decisions made by the end
user of the robotic control application. Therefore Artificial Intelligence may be provided to the robot for
making the process of decision-making much quicker and reliable. For example a database can be merged in
the application, which can be used to construct evaluation by identifying the object with the help of the
camera. The camera gives input to the database that is compared with the contents of the database and if a
match is found the corresponding entries of the database gives the desired actions to be performed by the
robot on the object, which makes the task much easier for the end user. Also AI may provide a threat of
performing wrong operations in case of identifying the object wrong which may result in hazardous
situation. Therefore if Artificial Intelligence is being implemented then it should be made sure that the
accuracy rate of AI engine is almost 100% accurate otherwise it can be dangerous in such a situation.

Page 47
9.1.6 Night Vision Camera :
The robot equipped with a wireless camera, which is not very useful in situations where the visibility or light
level is very low. For night mode it will be almost impossible for identifying objects because the lights,
which are provided on the robot, are fixed therefore it may not be possible to view those objects which are in
the dark. For night mode or places where light is low a night vision camera can be mounted on the robot
instead of a standard camera, which will increase the visibility in case of no light at all.

Page 48
CHAPTER NO.10
10.1 COST ESTIMATION
 COST ESTIMATION OF PROJECT
The project Wireless Bomb Disposal Robot is implemented with a proper cost to performance ratio.
 Material rates
Table 10.1.Material Rates
Sr. no. Material name Material quantity Material cost

1. UPVC pipe, 17(overall part quantity) 400
L- bow, socket
2. Aluminum plate 60
Total Rs.460
 Machining rates
Table 10.1.Machining rates
Sr no. Process Rates

1. Cutting a pipe 60
2. Drilling on plate 60
Total 120

Page 49
 Component cost
Table No.10.1
Sr. no. Part name Quantity cost
1. Hose Clip 6 60
2. Shoulder gun 1 80
3. Wire 3 150
4. Jaws 1 -
5. Screw (inch) 12 78
6. Washer 20 10
7. Wire cutter 1 45
8. Electric tape, simple tape 2 22
9. Wheel 6 570
10. Gear motor 6 1170
11. Robot automation 3000
12. Wooden plate 2 20
13. Servomotor 3 50
14. PVC pipe solution 1 10
15. Hack saw blade 1 10
16. Aluminum wire 1 roll 10
17. Wax 1 15
18. Battery 1 900
Total 6230
Total cost =component cost + material rate +Machining cost+ Transportation cost
Total cost =6230+460+ 120 + 250
= 7060.

Page 50
10.2 Trial and Testing
When we take a first trial of “Wireless Bomb Disposal Robot”, there is some over current flow through
circuit. Then proper circuit is not working due to using a battery of 3 Amp batteries.
Then, avoid this problem we uses a battery of 12.4 volt 4 Amp battery for the circuit which is lighter than 3
Amp batteries. By using this battery, circuit is properly work & model running with good manner.

Page 51
CHAPTER NO.11
11.1 APPLICATION
1. Mobile robots can be used in several application dangerous area operations such as high temperature
zone.
2. Robot will become part of life to solve our problem like handicap person to go over the slide without
any help of the other human being.
3. It is used to survive on surface irregularity without any shock & vibration.
4. It also used for bomb diffusing squad such that it can be able to cut the wire for diffusing the bomb.

Page 52
CHAPTER NO.12
12.1 ADVANTAGES& DISADVANTAGES
12.1.1 Advantages :
1. Does not require spring or stub axle.
2. Equal distribution of load on each wheel.
3. It can move in harsh environment.
4. The design is simple and reliable.
5. It can work in place which are beyond human reach
12.1.2 Disadvantages :
1. It is highly unstable at high speeds.
2. The impulsive collision also decreases the climbing capability of the system. They reduces grip of
the wheel.
3. This suspension has to balance the main body on differential gears only. Due to high load the gear
get damaged.
4. Its manufacturing cost is high.

Page 53
CHAPTER NO.13
13.1 CONCLUSION
The Wireless Bomb Disposal Robot has been designed in such a way that it can cater to the needs of the
bomb disposal squad, the military, the police and also for the personnel who handle radioactive materials. It
has countless applications and can be used in different environments and scenarios. For instance, at one
place it can be used by the bomb disposal squad, while at another instance it can be used for handling mines.
While another application can be to provide up to date information in a hostage situation.
This is wide field of study and is very less explored. So this gave us the motivation for the development
of this rocker bogie suspension system in a cost effective manner. Our concern during the development of
the rover will be to optimize the speed such that the rover do not flip and may travel a little faster too and
make it cost effective with maximum possible rigidity and ruggedness. With certain development the bogie
system can be used for defense related operation and also in wheelchairs for climbing stairs.

Page 54
CHAPTER NO.14
14.1 FUTURE SCOPE
1. Its future application will be assist astronauts during space operation, it will acts as path
finders too.
2. It can useful in space mission too; recently it is used in Mars Rover. This mechanism takes
consideration on unevenness of the surface it is driving on.
3. This robot has larger wheel as compared to obstacles, it can easily operate over most of the
Martian rocks.
4. It is also used in coal mines; act as spy robot and in military operation too.

Page 55
CHAPTER.15
15.1 PHOTOGRAPH
Fig.No.15.1
Page 56
CHAPTER.16
16.1 REFERENCE
1) Bhole, S. H. Turlapati, Raja shekhar V. S, J. Dixit, S. V. Shah Madhava Krishna K, “Design of a Robust
Stair Climbing Compliant Modular Robot to Tackle Overhang on Stairs”arXiv:1607.03077v1 [cs.RO], 11
Jul 2016.
2) M. D. Manik, A. S. Chauhan, S. Chakraborty, V. R. Tiwari, “Experimental Analysis of climbing stairs

with the rocker-bogie mechanism”, Vol-2 Issue-2 P.No. 957-960IJARIIE-ISSN (O)-2395-4396, 2016.
3) B. D. Harrington and C. Voorhees, “The Challenges of Designing the Rocker-Bogie Suspension for the
Mars Exploration Rover”, Proceedings of the 37th Aerospace Mechanisms Symposium, Johnson Space
Center, page No. 185-1985, May 19-21, 2004.
4) N. Yadav, B. Bhardwaj, S. Bhardwaj, “Design analysis of Rocker Bogie Suspension System and Access
the possibility to implement in Front Loading Vehicles”, IOSR Journal of Mechanical and Civil
Engineering, e-ISSN: 2278-1684,p-ISSN: 2320-334X, Volume 12, Issue 3 Ver. III, PP 64-67, May - Jun.
2015.
5) L. Bruzzone and G. Quaglia, “Review article: locomotion systems for ground mobile robots in
unstructured environments”, Mech. Sci., 3, 49–62, 2012. DOI:10.5194/ms-3-49-2012.
Books
1) Robotics by James L. Fuller
2) The 8051 Microcontroller by Scott McKenzie

Page 57

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WIRELESS BOMB DISPOSAL ROBOT

“WIRELESS BOMB DISPOSAL ROBOT”

Mr.Akshay A Waman Mr.Yash G Thube

Mr.Sagar P Jagtap Mr.Atul G Waghaskar

DEPARTMENT OF MECHANICAL ENGINEERING

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

VISHWABHARTI ACADEMY’S COLLEGE OF ENGINEERING

Student Name Signature

MR.AKSHAY ANKUSH WAMAN

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Sr. No. Chapter Page No.

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Fig. No Name of figure Page no.

4.1 2D Sketch of WDBR 14

4.2 PVC Pipe 16

4.4 45 Degree PVC Elbow 17

4.5 Hose clip PVC Pipe clamp 18

4.7 PVC Pipe coupling 20

4.11 12V Battery 22

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Table no. Name of table Page no.

4.1 Component of Wireless Bomb Disposal 15

6.1 Bluetooth control 30

7.1 Wheel design 31

8.1 Machining Process 35

8.2 Operation sheet 35

9.1 Material rates 37

9.2 Machining Rates 37

9.3 Component cost 38

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

1.1.1 Goals and Objectives:

1.1.3 System Statement of Scope:

1.1.4 Major Inputs and Outputs:

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

1.2 THEORETICAL BACKGROUND OF PROJECT

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

2.1 LITERATURE REVIEW

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

3.1 BASIC PRINCIPAL OF WIRELESS BOMB DISPOSAL ROBOT

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

 2D SKETCH/ BLOCK DIAGRAM

Fig 3.1. 2D SKETCH OF RBM

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

4.1 COMPONENT OF WIRELESS BOMB DISPOSAL ROBOT

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

4.2 COMPONENT OF WIRELESS BOMB DISPOSAL ROBOT

4.2.1 PVC PIPE :

Fig.No.4.2.1 PVC PIPE

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

 90 & 45 -DEGREE PVC ELBOW :

Fig.No.4.2.1.1 90DEGREE PVC ELBOW

Fig.No.4.2.1.2 45 -DEGREE PVC ELBOW

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

4.3.1 Hose Clip PVC Pipe Clamp :

Fig. No. 4.3.1 HOSE CLIP PVC PIPE CLAMP

4.4.1 Metal or Hard plastic plate :

Vishwabharati Academy’s college of engineering, B.E. (Mechanical)

Iron has properties as follows as:

Fig No.4.4.1. IRON PLATE PIECES