TABLE OF CONTENTS
Acknowledgement Abstract
Table of content List Of Figure
List Of Table List Of Abbreviation
i ii
iii vii
x xi
1. INTRODUCTION
1.1. Problem Statements
1.2. Objectives
1.3. Scope
1.4. Benefits Of The Project
1 2
3 3
4
2. LITERATURE RIVIEWS
2.1 Introduction To Robot 2.1.1 Autonomous Robot
2.1.2 Industrial Robot 2.2 Mechanical Structure
2.2.1 Frame 2.2.1.1 Abs Acrylonitrile Butadiene Styrene
2.2.1.2 Acrylic 2.2.1.3 Nylon
2.2.1.4 Polycarbonate 2.2.1.5 PVC
2.2.1.6 Plywood 2.2.1.7 Extruded Aluminum
2.2.2 Locomotion 5
5 8
9 12
13 13
14 14
15 15
16 17
17
2.2.3 Gripper Mechanism 2.2.3.1 Vacuum Pad Gripper
2.2.3.2 Pressure Pad Gripper 2.2.3.3 Magnetic Pad Gripper
2.2.3.4 Symmetrical Gripper 2.2.3.5 Unsymmetrical Gripper
2.2.3.6 Liquid Gripper 2.3 Motor
2.3.1 Ac Motor 2.3.2 Dc Motor
2.3.2.1 Brushless Dc Motor 2.3.2.2 Stepper Motor
2.3.2.3 Servo Motor 2.3.3 Motor Controlling Method
2.3.3.1 Unidirectional Motor Control 2.3.3.2 Bidirectional Motor Control
2.4 Controller 2.4.1 Programmable Logic Controller Plc
2.4.2 Microcontroller 2.4.3 Programming
2.4.3.1 Flow Control 2.4.3.2 Subroutine
2.4.3.3 Variables 2.4.3.4 Expressions
2.4.3.5 Strings 2.4.3.6 Numerical Values
2.4.3.7 Conditional Statements 2.4.3.8 Branching
2.4.3.9 Looping 2.4.3.10 Inputting Data
2.4.3.11 Outputting Data 18
19 19
20 20
21 21
22 22
25 27
28 28
30 31
33 34
34 38
39 40
40 41
42 42
43 43
44 44
45 45
2.5 Electric And Electronic Components
2.5.1 Capacitor 2.5.2 Diodes
2.5.3 Resistor 2.5.4 Transistor
2.5.5 Electronic Relay 2.5.6 Integrated Circuit IC
2.6 Sensors 2.6.1 Proximity Sensor
2.6.2 Range Sensor 2.6.3 Tactile Sensor
2.6.4 Miscellaneous Sensor
2.7 Power Supply
2.7.1 Direct Supply 2.7.2 Solar
2.7.3 Battery 2.7.3.1 Nickel Cadmium
2.7.3.2 Nickel Metal Hydride 2.7.3.3 Lithium-Ion
2.7.3.4 Lead-Acid 2.8 Conclusion Remark
3. METHODOLOGY
3.1 Planning Phase
3.2 Literature Review Phase 3.3 Design Phase
3.4 Building And Testing Phase 3.5 Analyzing Phase
4. DESIGN AND DEVELOPTMENT
4.1 Motor Driver Circuit 46
46 48
49 52
54 56
57 58
58 59
59 60
60 61
62 63
63 64
65 66
68 68
69 69
69 71
72 72
4.1.1 Motor Driver Circuit Development 4.1.2 Motor Driver Board Descriptions
4.2 Hand Hold Controller 4.2.1 Hand Hold Controller Development
4.2.2 Hand Hold Controller Description 4.3 Mechanical Constriction
4.3.1 Base 4.3.2 Linear Slider
4.3.3 Lifting Mechanism 4.3.4 Gripping Mechanism
4.4 Electrical Wiring 4.5 Design Analysis
4.5.1 Rotation Ratio And Output Rotation Of Drive Motor 4.5.2 Bearing radial load capacity
4.5.3 Shear and bending moment diagram of drive shaft 4.5.4 Deflection along the drive shaft
4.5.5 Value Of The Critical Speed Rotation Of The Drive Shaft 4.6 Concluding Remarks
5. DISCUSSION, CONCLUSION AND SUGGESTIONS FOR FURTHER
