seminar

on

Guided by Presented by
Dr. V. Pandu Ranga Pankaj kumar suman
Associate professor 19MF06014
School of Mechanical Sciences
 Introduction

 TX2/RX2 radio frequency module

 Applications

 Limitation

 Conclusions
 References
  INTRODUCTION
 ROPE CLIMBING ROBOT
 This robot uses its legs to climb on
the rope.

 Only one leg is in contact.

 Grippers are attached to the leg of the

robot.

 The proposed robot is designed to

climb the ropes which are held
horizontally or with some inclination to
carry some payload with it

 The Robot’s movement is controlled

wirelessly by TX2/RX2 radio
frequency module.
A. Mechanical Modeling

B. Electrical modeling

A. Mechanical Modeling
1.Geometrical position analysis
2.Design of Gripper
B. Electrical modeling
1. Determination of Required Torque

2. Determination of Speed of the Motor

3. Appropriate Specification of the Motor

1.Geometrical position analysis
•l1 = Distance between the points ‘O & C’.
•l2 = Distance between the points ‘O & A’.
•l3 = Distance between the points ‘A & B’.
•l4 = Distance between the points ‘B & C’.

Fig. Geometrical structure of

position analysis of proposed
mechanism
Continue..

Fig. Geometrical structure of

position analysis of proposed
mechanism
2.Design of Gripper
 The grippers in this application are used
as end effectors because of its function to
move on the rope with its own weight
and payload.
 The gripper's design should be perfect
to achieve the exact movement of the
robot.
 The angle of inverted 'V' is around 80º.
Hence, the rope is perfectly sitting on
the groove of inverted 'V' gripper.

 When the crank rotates for 180º, the

left leg comes on the rope and the
right leg goes off the rope. During this
time, the entire weight is carried by
only left leg
Fig. Placement of gripper in the mechanism links
B. Electrical Modeling
1) Determination of Required Torque
(a) At No Load Condition

(b) At Full Load Condition

1
2. Determination of Speed of the Motor

 The total distance covered by

robot in one full crank rotation is
0.22 m.

 The RPM is the ratio of the total

distance travelled per minute and
the total distance to be covered in
one direction.

 let’s consider a situation where

the robot travels for a distance of Fig. The distance covered by one leg in
13 meters in a minute with the full half of the crank rotation
load of 1.392Kg
 Hence, RPM (N) = 13/(1 *0.22) = 60 RPM
3) Appropriate Specification of the Motor

 Required speed = 60 RPM

 Required Torque capacity = 3.477 Kg-
cm or 0.341 N-m
 Required voltage level = 6 Volts

4) Available Motor in the Market

According to Our Required Specification

 Type of the motor = 60 RPM - BO

Motor 1:240 (I-Type)
 Working voltage = 6 Volts
 Maximum torque = 4 Kg-cm
 No load current = 0.03 Amps Fig. DC Gear motor
 Full load current = 0.15 Amps
 Protection feature = Fully enclosed
 Cost of the motor = Rs150
 TX2/RX2 radio frequency module

 The Robot’s movement is controlled

wirelessly by TX2/RX2 radio frequency
module.

 The TX2 and RX2 data link modules are a miniature PCB mounting UHF
radio transmitter and receiver pair which enable the simple
implementation of a data link at up to 160 kbit/s at distances up to 75
metres in-building and 300 metres open ground

 Transmitter modules :An RF transmitter module is a small PCB sub-

assembly capable of transmitting a radio wave and modulating that
wave to carry data
 Receiver modules:An RF receiver module receives the modulated RF
signal, and demodulates it.
Practical Result of the Robot with Various
Pay Loads
 The material chosen for gripper
was aluminum.

 The mechanisms were made up of

acrylic. Usually, this material is very
stronger than the normal plastic and
light weight.
 The body of the robot was fabricated
by foam board. This foam board is very
stronger than cardboard and also
waterproof.
 Due to the usage of these materials, the
total body weight of the robot was
reduced.
Fig. Carrying the pay load by load carrier
Continue..
TABLE I. PRACTICAL OUTPUTS
OBSERVED FROM THE ROBOT
 The body weight of the robot is
S.No. Load Torque Travelled
0.392 kg and a payload of 1 kg (N) (N-m) distance (m)

can be carried successfully 1. 0.392 0.096 14.5

2. 0.792 0.194 14.1

3. 1.092 0.268 13.88

4. 1.392 0.341 13.31

 The power required for normal operation is 5W and the robot can run
on a 6V DC supply

 The operational speed capacity of the robot is 13 meters per minute at

full payload condition.
APPLICATIONS

 engineering

 inspection

automation

military.
LIMITATIOINS
 It cannot climb vertically up.

 If the Payload increases,then high motor torque is required.

 Distance of wireless control.

 Frictional losses.
CONCLUSION

 To obtain the uniform movement from the robot, we have designed inverted
'V' shaped grippers

 We have used an extendable link on the opposite side of the gripper which
was attached with the same material.

 The experiments were done for different payload and the characteristics
were also obtained.

 The total body weight was reduced by choosing the proper material

 The system has proven through evolution that the mechanism of “the limb”
is more versatile than that of the wheel.
 REFERENCES
 1. Kanza. Zafar, Ibrahim M. Hussain, "Rope Climbing Robot with
Surveillance Capability", Int. J. of Intelligent Systems and
Application, vol. 09, pp. 01-09, 2013

 2. S. Krasna, I. Ciglaric, I. Prebil, "Four-Bar Linkage Design using

Global Optimization Approach", Proc. of Int. Design Conf. – Design,
pp. 1199-1204, 2002.

 3. "Motor Selection and Application Guide", General Electricals

(GE).
 4. H.H. Mabie, C.F. Reinholtz, "Mechanisms and Dynamics of
Machinery" in , New York:Wiley, 1987.

 5. R.L. Norton, "Kinematics and Dynamics of Machinery" in , New

York:McGraw Hill Inc., 2009