Name: Prince Group-504A

UID-21BCS4216 Course: DT-2

Experiment No-3.2
Aim: Design a two wheel line following robot integrated with infrared sensors.

1.) To create a bubbleRob(robot)

Right click🡪add🡪primitive shape🡪choose sphere
Take x🡪0.2

2. properties of bubbleRob:-
Collideable ,detectable and measurable
3. 3.lifting little up towards z direction
position tab->translation-->z=0.02

4.) add proximity sensor-->sensing nose

right click on the surface-->proximity sensor-->choose cone type
paste screenshot
5. change the direction-->

select sensor--->goto pos tab-->position

change x=.1
z=.12

6. orientation tab-->orientation

beta=90
gamma=90
7. changing the offset, range and angle of sensing nose
goto properties of sensing nose--->volume parameters

offset-->0.005
range-->0.15
angle-->30
bubble rob-->seperate entity
sensor-->seperate entity

we have to join
select subpart (nose)-->press control--->select main part--->
rightclick-->edit-->make last selected object as parent

8. we have to create (shape of wheels) 2 wheels--->cylinder

goto new scene-->add cylinder

right click-->add-->primitive shape-->cylinder

x=0.08
z=0.02
change position and orientation

goto position tab-->position-->change

x=0.05
y=0.1
z=0.04

goto orientation tab-->orientation

alpha--->-90
9
copy paste the wheel

cylinder 1-->pos-->y=-0.1
rename
cylinder0-->bubbleRob_leftWheel
cylinder1-->bubblRob_rightwheel

copy and paste in main scene

10. add joint-->revolute joint

control c
control v
11. select one joint+control+select leftwheel

goto position tab-->press apply to selection

goto orientation tab-->orientation-->aply to selection

repeat these steps for right wheel

12. rename the joints

joint with left wheel--->bubbleRob_leftMotor

joint with rightwheel-->bubbleRob_rightMotor

motor-->as parent
wheel as subpart and (13.) parent-->bubble rob
motors-->sub parts

14. slider
new scene-->add sphere-->>x=0.05

properties-->collidable, detectable, measurable

double click on icon-->common-->check these properties
rename-->bubbleRob_slider

property-->dynamic properties-->edit material

friction 3 times(static)--->0

15. add friction sensor

rightclick--->add-->force sensor

16. force sensor-->position tab-->position--->

z=0.05
rename-->bubbleRob_connection

force sensor-->parent
sphere-->subpart
copy paste these two in main robot

open position tab of connetor--->x=-0.07

join connector and bubble rob