Kraig Class Class Kraig 101 101
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KRAIG PAPER DISCUSSION 7th August 2011
Revision
Parts Of A Mobile Robot Basic Electronic Components Locomotion System Rectifier Circuit DC Motor H Bridge Sensor Interfacing Line Following Duty Cycles
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Locomotion System
As the name suggests a mobile robot must have a system to make it move This system gives our machine the ability to move forward, backward and take turns It may also provide for climbing up and down
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Driving Mechanisms
Differential Drive Skid Steer Drive Car type – Drive Articulated Drive Synchronous Drive Pivot Drive Dual Differential Drive
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What you should know
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DC Motor Direction Control
H – Bridge Circuit Diagram VCC
S1 S3
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S2 1
M
2
S4
H – Bridge Working
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Sensors
Analogous to human sensory organs Eyes, ears, nose, tongue, skin Sensors help the robot knowing its surroundings better Improves its actions and decision making ability Provides feedback control
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LDR - Light Dependent Resistor
Made of cadmium sulphide Resistance between two terminals vary depending on the intensity of light Can be used to differentiate contrast colours
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Comparator
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Sensor Interfacing
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Light Sensing Module using LED-LDR combination www.robotix.in
Bump Detector Module
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LM339 Pin Diagram
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