‘MULTI TERRAIN SPYBOT’

a mini-project report submitted to Rashtrasant

Tukadoji Maharaj Nagpur University in partial
fulfillment for the award of degree of
Bachelor of Engineering

In
Mechanical Engineering

BY

PRATIK LOKHANDE [41]

ABHISHEK SINGH [10]

UNDER THE SUPERVISION OF

DR.A.K.JHA

DEPARTMENT OF MECHANICAL ENGINEERING

SHRI RAMDEOBABA COLLEGE OF ENGINEERING AND MANAGEMENT,
NAGPUR-13

(An Autonomous Institution of Rashtrasant Tukadoji Maharaj Nagpur University)

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 CERTIFICATE

This is to certify that this is a bonafide record of mini-project work entitled

‘MULTI TERRAIN SPYBOT’
carried out by

PRATIK LOKHANDE [41]

of the Second Year B. E. Mechanical Engineering during the academic year 2017-18
in partial fulfilment of the requirement for the award of the Degree of Bachelor of Engineering
Offered by RASHTRASANT TUKADOJI MAHARAJ NAGPUR UNIVERSITY,
NAGPUR

UNDER THE SUPERVISION OF

DR.A.K.JHA

Dr. A.K.JHA Dr..K.N.AGRAWAL

MINI PROJECT GUIDE HEAD OF DEPARTMENT
MECHANICAL ENGG. DEPT. MECHANICAL ENGG. DEPT.

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 CERTIFICATE

This is to certify that this is a bonafide record of mini-project work entitled

‘MULTI TERRAIN SPYBOT’
carried out by

ABHISHEK SINGH [10]

of the Second Year B. E. Mechanical Engineering during the academic year 2017-18
in partial fulfilment of the requirement for the award of the Degree of Bachelor of Engineering
Offered by RASHTRASANT TUKADOJI MAHARAJ NAGPUR UNIVERSITY,
NAGPUR

UNDER THE SUPERVISION OF

DR.A.K.JHA

Dr. A.K.JHA Dr..K.N.AGRAWAL

MINI PROJECT GUIDE HEAD OF DEPARTMENT
MECHANICAL ENGG. DEPT. MECHANICAL ENGG. DEPT.

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 ACKNOWLEDGEMENT

Any project small or big is not possible without the guidance and help of various number of
people in various fields who have always given their valuable advice and support. We sincerely appreciate
the inspiration, guidance, dedication and positivity shown by all those people who in some or the other way
have contributed in making this project a success.

We are grateful to our Project Guide Dr.A.K.Jha who was always there to solve
every small doubt about the project. He not only provided us the right path towards approaching our goal,
but was also there to provide moral support and valuable inputs. Also we would like to thank Prof
M.G.Trivedi for helping us with the 3D printing of various components, It really wouldn’t have come into
existence without the help of these two people.

We are indebted to our Seniors and Head of Department, Dr.K.N.Agrawal who gave us a positive
response and provided us various approaches through which the project could be implemented and
developed further.

We are thankful to all our panellists and supervisors who were present during the project
presentation and submission for their valuable comments and advice which also helped us in improving our
presentation and communication skills.

BY-
PRATIK LOKHANDE[41]
ABHISHEAK SINGH [10]

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ABSTRACT

In the past few decades demand for Multi Terrain Robot applications have been increased significantly.
These robots can be employed for the purpose of security surveillance, military purposes, animal census,
spying and rescue purposes in the remote areas. In remote areas the terrain is not uniform and hence stability
of the robot becomes a challenging task. Such applications that include search and rescue, surveillance and
security, require information about an unexplored terrain that may be potentially hazardous for humans. To
explore such places we need robots with multi-terrain traversing capability.

In this project, a design is proposed for the robot, which aims to perform monitoring task while running on
different types of terrain or real time physical environment in balanced way.
It is designed for statically stable walking, turning, using minimal terrain sensing mechanism. It is equally
effective in indoor as well as outdoor settings.

Its salient features include camouflaging, in order to stay hidden and do the surveillance without coming in
anyone’s notice. The SpyBot is painted in such a way so as to dodge and tackle such difficulties and avoid
unwanted circumstances. It also has 12 degrees of freedom enabling the bot to turn, rotate or walk
effortlessly.

The robot is controlled wirelessly using Bluetooth sensors. The operator use live video feed streamed from
on-board camera mounted on the robot platform for gait regulation. On-board system keeps track of signal
strength, detects communication failure and sends location report of the robot to the operator console at
regular intervals.

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INDEX

a) List of figures ……………………………………………………….7-9

1. Introduction ……………………………………………………..10
2. Literature Review………………………………………………..11

Chassis Of The Robot………………………………………………..12

Configurations & Setting…………………………………………….13

Salient Features……………………………………………………….13

Degree Of Freedom…………………………………………………...14

Electronics And Coding…………………………………………...15-18

Conclusion ………………..……………………………………………..19

Future Scope/Applications ……………………………………………..20

References………………………………………………………………..21

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SPYBOT PICTURES

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8
Sketch up CAD model of SPYBOT

Leg Arrangements of the robot

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 1.0 INTRODUCTION

Robotics is an interdisciplinary branch of engineering and science that includes mechanical

engineering, electrical engineering, computer science, and others. Robotics deals with the design,
construction, operation, and use of robots, as well as computer systems for their control, sensory feedback,
and information processing.

Robots can take on any form but some are made to resemble humans or animals in appearance. This is said
to help in the acceptance of a robot in certain replicative behaviors usually performed by people. Such
robots attempt to replicate walking, lifting, speech, cognition, or basically anything that a living organism
can do.

This robot is designed to drive over just about any terrain for use with surveillance, academic research,
military purposes, animal census , spying and most practical robotic applications. It works on any indoor
surface and most outdoor surfaces.

This report details the design solution and final model implementation of Multi-Terrain SpyBot. It
discusses how the robot is capable of surveillance and spying ,also it explains how this robot can be used
for fulfilling the need of animal census, considering the modern day scenario .This reports also deals with
how this robot was brought into existence and what are the basic requirements to make such a robot.

This report finally concludes with scope and recommendations for future projects that are nearly similar to
the MULTI-TERRAIN SPYBOT.

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 2.0 LITERATURE REVIEW

Border patrolling and Check-Posts Surveillance is not and easy task due to varying weather conditions and
different habitat or terrains like Deserts ,Swamps , Water, Snow..etc ; moreover the life at the border is
really risky, there isn’t any guaranty of life at any point of time. This is considered as one of the most severe
issue as life is meant for everyone and it is the right of each and every individual to have safety of his or
her life. Considering this in mind the bot is designed in such a way so as to carry the work of surveillance
and spying simultaneously without risking the life of an individual. In addition to this, the military can use
these bots to determine landmines and tank-mines if any.

Apart from military application , the other major issue for which this bot can be used to tackle is the issue
of census of animals or forest surveillance .As we know, India is a vast country and half of the land area is
covered with forest. Forest and the forest animals plays an important role in maintaining the biological
cycle of the earth .Any harm to this may lead to imbalance in the cycle and malfunctioning of one or the
other resources. Hence, this robot can be used to count the number of species of a particular animal in that
area, or the total number of flora and fauna in that region. Even poaching is a major factor of concern and
can be reduced by punishing the culprits who would be captured through the cameras of this SpyBot.

Another problem faced by the security agencies is to track terrorists and trace the shelter of these people
involved in these activities. Many security officers have lost their lives during raid on these shelters. The
most desired solution of this issue is to have map of suspicious building/target and location of the persons
in the building and other dangerous places that can significantly reducing the loss of life. This robot is
installed with a camera and video transmitter, that can be sent to the suspicious place, which can help us to
build the map of that location. The robot can be controlled wirelessly from the remote area. Such kind of
robot can help security personals to monitor suspected places and to carry out more successful raids at
difficult place with the minimum casualty.

To sum it all up, the crux behind designing this bot is to help the mankind considering various aspects and
social issues in mind.

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CHASSIS OF THE ROBOT:
The most important thing to make any object is to design a chassis. As the model is a compact one, it
becomes even more difficult to design and fabricate the parts and components of the robot. To overcome
these issues , we manufactured this components on the 3D printer of our department which not only reduced
the time required to complete this project but also improved the efficiency and finishing of the components
.
This robot consists of mainly eight parts:

1x body lower
1x body upper
2x coxa left
2x coxa right
2x tibia left
2x tibia right
4x femur
8x small holders for servo

To manufacture these components through additive manufacturing process there is a need of creating a
CAD model of these components with proper dimensions and scaling . The CAD modelling was done on
Sketch Up Pro software after which the file was converted into STL format for 3D printing with the help
of FACKTORY software used to command the JULIA 3D printer installed at our department .

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CONFIGURATION AND SETTING OF 3D PRINTER USED FOR THE
MANUFACTURING OF THE BODY PARTS:

MATERIAL USED- P.L.A {Polylactic Acid Polymer}

CHEMICAL FORMULA- (C3H4O2)n
FILL DENSITY – 20%
NOZZLE – 0.3mm
PRINT SPEED – 65
BED TEMPREATURE – 80 ˚C
NOZZLE TEMPREATURE - 230˚C

SAILENT FEATURES OF BOT DESIGN

Chameleons have a special characteristic to change their color according to the surrounding . In order to
stay hidden and do the surveillance silently without coming in someone’s notice; Our SPYBOT is painted
in such a way so as to dodge and tackle such difficulties and avoid unwanted circumstances .This is done
by the technique of camouflage ,which is considered as one of the most important aspect of this bot.
Assembly of each and every part of the robot is done accordingly in order to bring it to a stable state before
addition of the electronics part, batteries and components to it.

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 DEGREE OF FREEDOM

The degree of freedom (DOF) of a mechanical system is the number of independent parameters that define
its configuration. It is the number of parameters that determine the state of a physical system and is
important to the analysis of systems of bodies in mechanical engineering, aeronautical
engineering, robotics, and structural engineering .

The position of a single railcar (engine) moving along a track has one degree of freedom because the
position of the car is defined by the distance along the track. A train of rigid cars connected by hinges to an
engine still has only one degree of freedom because the positions of the cars behind the engine are
constrained by the shape of the track.

An automobile with highly stiff suspension can be considered to be a rigid body traveling on a plane (a flat,
two-dimensional space). This body has three independent degrees of freedom consisting of two components
of translation and one angle of rotation. Skidding or drifting is a good example of an automobile's three
independent degrees of freedom.

The position and orientation of a rigid body in space is defined by three components of translation and three
components of rotation, which means that it has six degrees of freedom.

The exact constraint mechanical design method manages the degrees of freedom to neither under constrain
nor over constrain a device.

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 ELECTRONICS AND CODING

Electronics part of any robot is the most delicate thing to handle after the chassis of the bot, as a simple
mistake can lead to a lot of damage to mankind as well as the environment. In order to come to the
conclusion of this project, we had to overcome these all factors including safety of each and every
individual.

Here is a list of all the electronic components which are used to make the bot:

1x Arduino Nano
1x HC-05 Bluetooth module
12x 9G Servo Motor
1x 1540 mAh 9V Battery
1x 3mm Blue LED
1x Toggle Switch
1x 5x7cm Dot PCB
1x LM-7805
1x LM-7806
1x TIP 3055
Resistor 3.3k Ohm
Heat sink
Some male and female pin headers and buck strip
Small gauge wire
Glue Gun
Soldering Kit

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ARDUINO NANO:
The Arduino Nano is a small, complete, and breadboard-friendly board based on the ATmega328P
(Arduino Nano 3.x). It has more or less the same functionality of the Arduino Duemilanove, but in a
different package. It lacks only a DC power jack, and works with a Mini-B USB cable instead of a standard
one.

Microcontroller ATmega328
Architecture AVR
Operating Voltage 5V
Flash Memory 32 KB of which 2 KB used by bootloader
SRAM 2 KB
Clock Speed 16 MHz
Analog IN Pins 8
EEPROM 1 KB
DC Current per I/O Pins 40 mA (I/O Pins)
Input Voltage 7-12 V
Digital I/O Pins 22 (6 of which are PWM)
PWM Output 6
Power Consumption 19 mA
PCB Size 18 x 45 mm
Weight 7g
Product Code A000005

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HC 05 BLUETOOTH MODULE:

The Bluetooth module HC-05 is a MASTER/SLAVE module .By default the factory setting is SLAVE
.The Role of the module (Master or Slave) can be configured only by AT COMMANDS .The slave
modules cannot initiate a connection to another Bluetooth device, but can accept connections .Master
module can initiate a connection to other devices. The user can use it simply for a serial port replacement
to establish connection between MCU and GPS, PC to your embedded project, etc.

MICRO SERVO MOTOR (SG90):

It is tiny and lightweight with high output power. This servo can rotate approximately 180
degrees (90 in each direction), and works just like the standard kinds but smaller. You can
use any servo code, hardware or library to control these servos .It comes with a 3 horns
(arms) and hardware.
Specifications:
 Operating voltage: 4.8 V (~5V)
 Operating speed: 0.1 s/60 degree

 Stall torque: 1.8 kgf·cm

 Dead band width: 10 µs

 Temperature range: 0 ºC – 55 ºC

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ICs - LM7805 & 7806:
78xx (sometimes L78xx, LM78xx, MC78xx...) is a family of self-contained fixed linear voltage
regulator integrated circuits. The 78xx family is commonly used in electronic circuits requiring a regulated
power supply due to their ease-of-use and low cost.

TIP 3055:

It is an NPN transistor, in our project we are using it for current amplification. Complementary Silicon
Power Transistors are designed for use in general purpose power amplifier and switching applications.

Features:
• Power Dissipation-PD = 90W at TC = 25°C.
• DC Current Gain hFE = 20 ~ 100 at IC = 4.0A.
• VCE(sat) = 1.1V (Maximum) at IC = 4.0A, IB = 400m

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 CONCLUSION

This robot is designed to drive over just about any terrain for use with surveillance, academic
research, military purposes, animal census , spying and most practical robotic applications. It works on
any indoor surface and most outdoor surfaces.

The robot is basically inspired by Spider and the various techniques used by spider for its survival ,
improved and improvised with some robotic instinct.
The crux behind designing the bot is to help the mankind, keeping in mind the various social issues faced
by them.

The implementation of the basic project idea was successfully achieved and the final project model
has been obtained after a thorough testing of the developed robot.

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 FUTURE SCOPE AND APPLICATIONS

As mentioned earlier, this robot is designed in order to reduce human efforts and to perform
various critical tasks which are either hard or next to impossible for a human .The applications and
future scope of this bot are hence mentioned below:
 Military Applications
 Rescue Operations
 Animal Census
 Forest surveillance
 Spying
 Landmine Detection
 Scanning of Particular area
 Various Other indigenous uses.

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REFERENCES

 http://www.farnell.com/datasheets/79982.pdf
 https://www.google.co.in/search?q=tip3055%20transistor&ved=0ahUKEwj-j6-
FzsPaAhUBpo8KHXQdDBoQsKwBCD0oAzAA&biw=1366&bih=613
 https://en.wikipedia.org/wiki/Degrees_of_freedom_(mechanics)
 https://www.google.co.in/search?q=lm+7805&oq=lm+7805&aqs=chrome..69i57
j0l5.5795j0j4&sourceid=chrome&ie=UTF-8
 https://wiki.eprolabs.com/index.php?title=Micro_Servo_motor_SG90
 https://www.google.co.in/search?q=hc+05&oq=hc+05&aqs=chrome..69i57j0l5.
4361j0j4&sourceid=chrome&ie=UTF-8
 http://playground.arduino.cc/Main/FlexiTimer2
 https://github.com/regishsu/SpiderRobot
 https://identity.trimble.com/i/authenticationendpoint/login.do?client_id=_dgEh
9Y0YvnjfSjRuZjQSpx4VZwa&commonAuthCallerPath=%2Foauth2%2Fauth
orize&forceAuth=false&lang=en&passiveAuth=false&redirect_uri=https%3A
%2F%2Flogin.sketchup.com%2Flogin%2Ftrimbleid%2Fcallback&relyingPar
ty=_dgEh9Y0YvnjfSjRuZjQSpx4VZwa&response_type=code&scope=openid&
tenantId=1&type=oidc&sessionDataKey=0f0b458c-e613-48de-b81f-
0faa0c9b5621&relyingParty=_dgEh9Y0YvnjfSjRuZjQSpx4VZwa&type=oidc
&sp=login.sketchup.com&isSaaSApp=true&authenticators=GoogleOAUth2Op
enIDAuthenticator:GoogleIDP;ExtendedBasicAuthenticator:LOCAl
 Theory Of Machines – S.S. Rattan
 Bhavikatti- Strength of Materials.

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