Mechanical Robots Workshop(MoonBots)

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This is a workshop on Mechanical Robots being conducted by Technology Robotix Society in collaboration with Space Technology Students’ Society

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National Students’ Space Challenge India’s first space science & engineering competition In association with ISRO

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COMPETITIONS 1.

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LIFT OFF MOON BOT SUBMERGE MOON LAB

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LIFT OFF ď ˝

Water rocketry challenge is a competition to build a rocket powered by pressurized water.Â

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MOON BOT A robotic event about designing a rover that is able to travel on a terrain similar to that of moon.

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Design an underwater vehicle that can travel while avoiding obstacles.

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MOON LAB ď ˝

Formulate a plan for a human settlement on moon.

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Lunar Robotics Challenge

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Build the next generation of manual rovers that can traverse through one of the most difficult terrain , the lunar terrain. The teams need to focus on building better vehicle, designed to overcome the problems of a rough terrain, while performing the task of collecting small blocks on the way.Â

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The problem statement can be broken down to a few distinct capabilities that the robot has to have:

1. Locomotion System

2. Picking Mechanism

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DIFFERENTIAL DRIVE A differential drive is the most basic drive, which consists of two sets of wheels that can be driven independently. www.robotix.in

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MOTION

LEFT WHEEL

RIGHT WHEEL

Forward Backward Left Turn Right Turn

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Drives www.robotix.in

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Our power supply consists of the rectifier circuit and the transformer.

A rectifier is an electrical device that converts alternating current (AC), current that periodically reverses direction, to direct current (DC), current that flows in only one direction.

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Motors used to make differential drive robot are the simple DC motors .

Though we can use motors used in toy cars for our purpose . www.robotix.in

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To control the locomotion of the robot, we need a control box. It comprises of two pushbutton switches and two two-way switches.

Another method is to use two three way switches for the two motors.

Connections can be made in such a way that the left switch gets connected to the left motor and the right switch gets connected to the right one.

Multi strand wires can be used to connect the motors and the switches. www.robotix.in

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RACK AND PINION

A rack and pinion is a type of linear actuator that comprises a pair of gears which convert rotational motion into linear motion.

The circular pinion engages teeth on a linear "gear" bar.

The rack. Rotational motion applied to the pinion will cause the rack to move to the side, up to the limit of its travel.

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The most important thing that is to be taken care of in order to properly stack objects, is the gripper. For this type of gripper we can have one part of the gripper as stationary and actuate the other. www.robotix.in

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Video

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Another option with the grippers can be to move both the parts simultaneously using gears or wires and spool.

The picture below shows how to accomplish this mechanism using gears.

When motor moves the driving gear the driven gear automatically moves in the opposite sense due to the meshing. This is used to move the gripping pads closer or farther from one another. www.robotix.in

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Velocity of contact point and power transferred from one gear to other remains constant.

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V=rw, Power=Torque x w

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Consider r1 and r2. r1w1=r2w2 and T1 x w1=T2 x w2. The gear with larger radius will have lower w and larger torque.

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The images can give you an idea of  a complete gripper implemented using wires ( not shown in the picture). The wires can be connected from the grippers to the spool of the motor which can open the grippers. This mechanism also requires a spring or a rubber band to bring back the grippers once pulled away. The motor required to work against the spring force should be a high torque motor. www.robotix.in

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Soldering Iron Soldering Wire Flux Wire Stripper Single strand wires Multi strand wire of appropriate length PCB (dot or line) 4 Diodes (D1N4007) 1 Electrolytic Capacitor (1000 microfarad) Step down Transformer (220v- 12V AC) Two 3 way switches or Two 2 way switches and two push button switches.

2 plastic boxes to encase transformer and for control box Plug for transformer 2 pin, 4 pin relimates Insulation Tape IC 78xx xx=05, 06 or 12 according to your need 4 DC motors(2-100 rpm,2-45/30 rpm) Breadboard (optional)

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Tech market Outside Puri Gate Prem Bazaar Umesh Carpenter

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Event Details and Registrations at : www.nssc.spats.in

Robotics Resources & Tutorials at :

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