Wireless

Arthrobot

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PROJECT BY

Names Exam No.

Rahul Pawar B3233130
Akshay Purandare B3233134
Avinash Raskar B3233137

Guided By-
Prof. V.V.Dixit.

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AIM OF THE PROJECT

1.To Build a remote controlled Six legged Robot

to acquire status of Physical Quantities at
remote places and to keep updating control room
about the same.
2. By doing this we can get information about
different physical parameters from the places
where human can’t go & work.
3. In the era of robotics, this can be very helpful.
In this way robotics can work as relief to human
being. 3
WHY ROBOTICS?

 The World Is Moving Towards Automation In Every Field.

 The Best Option For Replacing Human At Hazardous

Jobs.

 A Reliable Medium To Complete Work With Accurate

Results.

 Work Done By Robots Is Always Under Control And Very

Precise.
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WHAT A ROBOT CAN MEAN?

 An Industrial Automatic Machine Replacing The Human

In Hazardous Work.

 An Automatic Mobile Sweeper Machine For Domestic

Use.

 An Automatic Toy Car For A Child To Play With.

 A Machine Removing Mines At War Field All By Itself

And Many More…...
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A ROBOT

Robots have 3 main components:

 Brain - usually a computer.

 Actuators and mechanical parts - motors,

pistons, grippers, wheels, gears.
 Sensors - vision, sound, temperature, motion, light,
touch, etc.
These three components will make a robot to interact
and affect their environment to become useful.

A robotic system can perform a single or multiple tasks.

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TASKS TO BE PERFORMED

Acquire the physical quantities from

specific sensors from remote places.
Transmit information about physical
quantities to control room.
Transmit images from robot to TV
station.
Control the robot by means of
wireless remote. 7
BLOCK DIAGRAM

Transmitter(Remote)

KEYBOARD RF
AT89S52 Transmitter

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BLOCK DIAGRAM(CONT.)

Receiver( Robot)

Wireless RF
Camera Transmitter

Temperature
Amplifier
Sensor
Servo
PIC16F87XA Motor 1
Humidity
Sensor Amplifier
Servo
Motor 2

RF Servo
Receiver Motor3 9
BLOCK DIAGRAM(CONT.)

Control Room

TV
Receiver
TV

RF PIC LCD
Receiver 16F87XA Display
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RESOURCES SELECTED

 Microcontroller- PIC16F87XA and AT89S52.

 RF Transmitter & Receiver kit.

 Amplifier-LF356.

 Signal Transmission Medium - RF signals.

 Wireless Camera.

 Servo Motors- Hi-tech HS-311.

 Sensors- LM35,HIH-3610.

 LCD Display-7106.

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ALGORITHM OF REMOTE

1. Start.
2. Key is pressed by the user for either turning right ,
left or to go straight.
3. The equivalent output is given to the microcontroller.
4. According to the software written microcontroller
generates control signals which are the inputs for RF
transmitter module.
5. RF transmitter will transmit the RF signal generated
for the receiver to receive.
6. Remote control follows steps 3,4,and 5 when any
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is pressed.
CONTROL FLOW OF REMOTE

Equivalent analog
input of key pressed
Control
signal RF Signal

KEYBOARD PIC RF
16F87XA TRANSMITTER

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FEATURES OF RESOURCES USED IN
REMOTE

Microcontroller AT89S52:
 8Kb of In system programmable flash memory.

 Endurance:1000 write/erase cycles.

 4.0 v to 5.5 v operating range.

 256 bytes internal RAM.

 32 programmable I/O lines.

 Fully static operation: 0 Hz to 33MHz.

 Three 16-bit Timer/Counters.

 Eight Interrupt Sources.

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 Low-power Idle and Power-down Modes.
FEATURES OF RESOURCES USED IN
REMOTE

RF signals
433MHz 2.4 GHz
• Range free field : max.100m max.100
• Range through floors
and walls : 10 - 20m 15 -30 m
• Capacity : max. 10mW max. 10mW
• Frequency : 433.92MHz 2.4GHz

Application: To transmit signals through floors and walls.

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FEATURES OF RESOURCES USED IN
REMOTE

Specifications of RF Transmitter Module

•Operating Voltage 3V to 12 V
•Operating Current.
Max: 400mA for 12 V supply
Min: 9mA for 3V supply.
•Frequency-433MHz.
•Transfer Rate-10Kbps.
•Antenna Length-18cm. Fig: RF Transmitter
module (433Mhz)
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ALGORITHM OF ROBOT MOVEMENTS

1. Start.
2. Receive control signals(RF signals) from air.
3. RF receiver will generate signals accordingly.
4. PIC microcontroller will accept those signals and will
generate control signals.
5. These control signals are responsible for the movement
of servo motors resulting in robot movements.
6. Steps 2 to 5 are followed once receiver receives any
signal.

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CONTROL FLOW OF ROBOT
MOVEMENTS

Control signals to
drive servo
RF signal from Control motors
Transmitter signal

Servo
Motor 1
RF
PIC16F87XA Servo
Receiver
Motor 2

Servo
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Motor3
 FEATURES OF RESOURCES USED FOR ROBOTIC MOVEMENTS

Specifications of RF Receiver
Module

•Operating Voltage 5.0V ± 0.5V

•Operating Current
≤5.5mA for 5.0V supply.
•Frequency -433MHz.
•Transfer Rate- 10Kbps. Fig: RF Receiver
module(433Mhz)
•Antenna Length- 18cm.

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FEATURES OF RESOURCES USED FOR
ROBOTIC MOVEMENTS
Microcontroller PIC 16F87XA
 100,000 erase/write cycle Enhanced Flash program memory
typical.
 1,000,000 erase/write cycle Data EEPROM memory typical.

 Self-reprogrammable under software control.

 In-Circuit Serial Programming™ (ICSP™) via

two pins.
 Single-supply 5V In-Circuit Serial Programming.

 In built ADC (10 bit, up to 8 channels).

 Power saving Sleep mode.

 Selectable oscillator options. 20

FEATURES OF RESOURCES USED FOR
ROBOTIC MOVEMENTS
Servo Motors
 It is a device which has a positionable shaft.

 Position of this shaft can be changed according

to the signal given to it.
 Servos are powerful and consume less energy.

 Uses PWM signals for the movement.

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FEATURES OF RESOURCES USED
FOR ROBOTIC MOVEMENTS
Servo Motor Controller HS-311

oControl System: +Pulse Width Control 1500usec

Neutral.
oRequired Pulse: 3-5 Volt Peak to Peak Square Wave.
oOperating Voltage: 4.8-6.0 Volts.
oOperating Temperature Range: -20 to +60 °C.
oOperating Speed (4.8V): 0.19sec/60° at no load.
oOperating Speed (6.0V): 0.15sec/60° at no load.

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FEATURES OF RESOURCES USED FOR
ROBOTIC MOVEMENTS
Servo Motor Controller HS-311(contd.)
o Stall Torque (4.8V): 42 oz/in (3.0 kg/cm).
o Stall Torque (6.0V): 49 oz/in (4.5 kg/cm).
o Operating Angle: 45° one side pulse traveling
450usec.
o Direction: Multi-directional.
o Motor Type: Cored Metal Brush.
o 360 Modifiable: Yes.
o Weight: 1.52oz (43g). 23
ALGORITHM FOR DATA ACQUISITION
SYSTEM
1. Start.
2. Sensors of the respective physical quantities senses the
quantities and generates equivalent voltage.
3. Equivalent low voltage is given to the amplifier stage.
4. Amplified signal is given to the ADC of PIC
microcontroller.
5. Calibrated signal generated by PIC is given to the RF
transmitter.
6. RF transmitter will transmit the signal to control room.

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CONTROL FLOW OF DATA
ACQUISITION SYSTEM

Amplified Calibrated
Low voltage Signal signal
Sensor output
RF Signal

Temperature
Amplifier
Sensor RF
Transmitter
Humidity PIC16F87XA
Sensor Amplifier

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FEATURES OF RESOURCES USED FOR
DATA ACQUISITION SYSTEM

Sensors
Temperature Sensor LM35

• + 10.0 mV/°C scale factor.

•0.5°C accuracy.
•−55° to +150°C range.
•Suitable for remote applications.
•Low cost.
•Operates from 4 to 30 volts. Fig: LM35

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FEATURES OF RESOURCES USED
FOR DATA ACQUISITION SYSTEM
Humidity Sensor HIH 3610

•Molded thermoset plastic housing with

cover.
• Linear voltage output vs%RH
• Laser trimmed interchangeability
• Low power design
• High accuracy
• Fast response time Fig: HIH 3610
Humidity sensor
• Stable, low drift performance
• Chemically resistant
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 FEATURES OF RESOURCES USED FOR
DATA ACQUISITION SYSTEM

Amplifier LF356
•High input impedance.
•High speed operation up
to20Mhz,50v/ms
•Large differential voltage capability.
•High bandwidth.
•Internal compensation.
•Can work with only one power supply.

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CONTROL ROOM WORK FLOW

1. Start.
2. Continuous reception of images from wireless camera
transmitter is done by TV receiver.
3. RF receiver module will receive information about the
physical quantities.
4. It will pass the signal to PIC microcontroller.
5. LCD which is interfaced with PIC will display the
result.
6. Steps 3 to 5 are repeated till receiver receives signals.

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APPLICATIONS

 Monitoring the remote system by means of wireless

camera.
 Can be used as industrial robot to monitor any part of a
big system.
 For home automation also it can be used.

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FUTURE SCOPE

 By adding some features we can get a robot working in

different conditions.
 Also the robot can be made autonomous if required.

 Can take place of human beings in future.

 Advanced communication system will make the system

more real time.
 In industries for pick and place also this robot can be
handy by adding Arm and control structure for it.

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ROBOT MAY LOOK LIKE:

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THANK YOU!

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