DIT with Jerin

THE PHASE SHIFTING ROBOT

[PSR]

The decision of opting this project was instilled on us by our school surrounding, a refinery, which is at a constant risk of an impending disaster. Should a disaster like that occur, the chances of human rescue are slender; humans to be rescued by other humans have an even lesser chance. A technological advance is necessary for tackling such a scenario. A robot, which can change its dimensions and traverse through unpredictable terrains, was to be invented.

Present Work:

A robot which had momentary existence in our discussions has finally taken its prototype form; the first ever form of the Phase Shifting Robot [PSR] can change is height and width. It has enough power inside to overcome slopes, stairs and go through narrow sledges. It is controlled by android phones .

Result, Review, Discussion:-

The present model of the Phase Shifting Robot is wireless and can be taken to places where it is impossible for people to go and also through rocky terrains but it has a limited range as it is controlled by Bluetooth. It can go only a maximum of 7-8 mtrs from the phone .

This is the prototype of the Phase Shifting Robot, and numerous modifications can be made for the betterment of this project. Instead of using Bluetooth we could use Wi-Fi to control the robot. It could provide more range for the PSR. A Wi-Fi enabled camera can be installed and it acts as the eye of the robot made wireless. A base can be added to the robot to the robot so that we can keep the batteries if the robot within the robot itself . An humen detection sensor and a fire detection sensor can be added to the robot ,which helps it to perform better in disaster management.

1) INTRODUCTION

We wanted to create a robot which had the capability to reach places which a normal human can’t reach. We wanted to create a robot which can traverse through any terrain; but as a start, we have created a robot which can climb stairs, overcome slopes, and go through narrow and/or low passages.

We have made use of simple materials, including aluminium bars , motors and wires . We made joints at possible locations, so that flexibility of the PSR is increased . A Johnson DC motor was used, along with a thread rod and a nut so that the two sides are attracted to/ pushed away from each other. A low friction shaft like mechanism was installed on both ends and the bottom of the central part so that every part of the PSR moves in union. Thus the present design of the PSR was developed.

The present form of the PSR has 4 high torque 100 rpm motors which help in its locomotion and a 10 rpm gear motor attached to the bottom part of the body with strings attached to the leg for the height increase and decrese mechanism.

THE BUILDING DAYS

The preparation of this robot took a whole of 6 days (October 5th to October 11th). The basic design which only existed in our idea was materialized using machines by us. Aluminium bars were used to make the basic skeleton using screws and nuts. A makita driller was used to drill the aluminium bars. The cutting part was done by an axo blade. Legs and the central body were made separate. At the base of the legs, tires along with 100 RPM Johnson DC motors were attached. The four legs and the four ends of the central body were attached using nuts and bolts with spacers for its easty movement. Elastic retentions were installed to either side of the PSR so that the increase of height of the PSR would be made easier for the Johnson DC 100 RPM motors. This model could change its height, move forwards, move backwards, and also move toward either side (left/right).

Each side of the PSR was connected using aluminium bars; hence the whole system was too rigid for the adjustment of the width. So the connecting bars were unscrewed and using a Johnson DC motor, thread rod and a nut. A frictionless shaft like mechanism was installed in the front and back so that every side of the PSR moved in unity. A castor wheel was attached in each end of the central body, for the smooth movement of the same in the least height position.

At last, wires were soldered into the terminals of each motor and the 2 right side motors were connected in parallel to one relay motor driver and did the same for the other side motors. These were finally connected to the master controller an arduino MEGA . A Bluetooth module is connected to the arduino which is used to control the PSR. Two lead acid batteries were used.

at work

drilling

johnson motor for width changing

2.2) Part wise explanation.

2.2.1) The central body-

The central body is the part where the height adjustment mechanism is located .it Also has the width changing mechanism of the PSR. A nut is welded at one stainless steel surface which is attached to the, mainframe of the PSR. A long bolt which is connected to the Johnson DC , there are 4 castor wheels, which allow the central body to move smoothly while in the least height position.

2.2.2) The legs-

There are four legs for the PSR .At each leg’s base, there is a 100 RPM Johnson DC motor installed for the movement of the PSR. Each of the leg is connected to the central body along with the metal servo motors. Each leg has a protruding screw at one side for the installment of elastic retentions on each side.

2.3) Functions.

2.3.1) Climbing a slope-

The PSR makes use of the four 100 RPM Johnson motors for its movement. When the PSR approaches a slope, the front legs lifts first, and due to the push from the back legs, it moves up the slope. Making use of the power under it and the pull from the front legs, the back legs are also able to move along the slope .

2.3.2) Height changing-

The PSR has four 10kg wt metal servo motors on every side of its central body. When a situation which demands a height change arises, all of the four motors are made to rotate in the same direction, so that the legs move closer/apart.

2.3.3) Width changing-

The PSR is equipped with a Johnson DC 100 RPM motor along its side. This motor is connected to a thread rod. This thread rod is connected to a nut which is in contact with the other side. In the most expanded position, the thread rod has some of its length winded through the nut. When the motor starts rotating, the thread rod winds more through the nut, thereby reducing the overall width of the PSR.

3) CONCLUSION

This project has been done with the primary view of finding people who are trapped in places amidst the rubble of the destroyed structure. At spots and locations like that, no ordinary humans can reach. Hence this robot can be found useful in such situations. This version of the Phase Shifting Robot is capable to navigate through slopes, stairs and narrow and low passages. Hence it is the most suitable for a scenario, where the terrain is unpredictable.

3.1) More uses.

The robot is designed in such a manner that it has the capability of navigating through low passages, slopes, narrow paths and also to climb stairs.

This robot can be used to check inside disaster affected buildings. Any building replicating the same scenario such as buildings destroyed by terrorist attacks, is a surrounding most suitable for this robot to work into. Broadening our view, this robot can also be used for defence activities, which include patrolling and spying. It can be also used for carrying weapons for the military during war

Thus, we hope that we have succeeded in creating a functioning robot, and that our idea and theme is something that is helpful for the world.

4) LIST OF TABLES

Table 1:Details of materials used and their price.

5) LIST OF FIGURES

6) LIST OF SYMBOLS, ABBREVATIONS AND NOMENCLATURE

PSR : Phase Shifting Robot.