v
TABLE OF CONTENT
Abstrak i
Abstract ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables xi
List of Figures xii
List of Abbreviations xiii
1. INTRODUCTION
1
1.1 Project Overview
1
1.2 Background
2 1.2.1 Types of Robot
3 1.2.2 Robot Application in Military
6 1.3
Problem Statement
7
1.4 Project Aim
7 1.5
Objectives of The Project 7
1.6 Scope of The Project
8
vi
1.7 Project Outline
8 1.8
Project Planning 10
1.9 Expected Outcome
12 1.10
Chapter Conclusion 12
2. LITERATURE REVIEW
13
2.1 Introduction to Robotic
13
2.1.1 Definition of Robotic 14
2.1.2 Industrial Robot 14
2.1.3 Mobile Robot 16
2.1.3.1 Wheeled Type of Mobile Robot 17
2.1.3.2 Legged Type of Mobile Robot 18
2.2 Type of Control for Mobile Robot
19
2.2.1 Manual Remote Mobile Robot 20
2.2.2 Autonomous Mobile Robot 22
2.3 Application of Mobile Robot
22 2.3.1 Hobby
23
2.3.2 Space 24
2.3.3 Industry 26
2.3.4 Military 27
2.4 Major Component of Mobile Robot
30
2.4.1 Basic Control Scheme of Mobile Robot 31
vii
2.5 Wheel
31
2.5.1 Type of Wheel 32
2.5.2 Motor 34
2.5.2.1 Basic Principle Operation of DC Motor 34
2.5.2.2 Stepper Motor 36
2.5.2.3 Brushed Motor 37
2.5.2.4 Brushless Motor 38
2.5.2.5 Speed Control DC Motor 40
2.6 Controller
42 2.6.1 Microcontroller
42
2.6.2 Microcontroller by Microchip 44
2.6.3 Programming 49
2.6.3.1 Micro C 50
2.6.3.2 MPLAB 51
2.7 Battery
52
2.7.1 Type of Battery 52
2.8 Software Tools
54 2.8.1 AutoCAD
55
2.8.2 SolidWorks 56
2.8.3 Proteus for PCB Design 57
2.8.4 PIC Kit 58
viii
2.9 Sensor
59 2.9.1 Type of Mobile Robot Sensor
59 2.9.2 Ultrasonic Sensor
60 2.9.2.1 Measurement Principle and Effective Use of Ultrasonic Sensor
61 2.10
Existing Projects and Research 61
2.10.1 Related Research 1: Comprehensive Locomotion Performance Evaluation 62 of All-Terrain Robots by Thomas et. al, Switzerland 2006
2.10.2 Related Research 2: Concept of a Novel Four-wheel-type Mobile 63 Robot for Rough Terrain, RT-Mover by Shuro Nakajima, U.S.A 2009
2.11 Chapter Conclusion
65
3. METODOLOGY
66
3.1 Planning
66
3.2 Project Flow Chart
67 3.2.1 Selection Project Title
68
3.2.2 Literature Review 68
3.2.3 Methodology 69
3.2.3.1 Mechanical 70
3.2.3.2 Electrical 71
3.2.3.3 Programming 73
3.2.5 Design and Development 73
ix
3.2.6 Result of Development 74
3.2.7 Discussion and Conclusion 74
3.3 Software Tools
74
3.3.1 SolidWorks 2009
75 3.3.1.1 Part Drawing
75 3.3.1.2 Assembly
79
3.3.1.3 SolidWorks Simulation 79
3.3.2 PIC Programming 80
3.3.3 Proteus Version 7.2 83
3.3.4 Pugh Method 84
3.4 Chapter Conclusion
85
4. DESIGN AND DEVELOPMENT