v
TABLE OF CONTENT
Abstrak i
Abstract ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables x
List of Figures xi
List Abbreviations xiii
1.0 INTRODUCTION
1 1.1
Background 1
1.1.1 History of Robot 2
1.1.2 Robot Definition 2
1.1.3 Classification of Robot 3
1.1.4 Application of Mobile Robot 6
1.1.5 Mobile Robot with Mecanum Wheel 7
1.2 Problem Statement
7 1.3
Project Aim Objectives 8
1.4 Scope
9 1.5
Project Planning 9
1.6 Expected Outcome
9
vi
2.0 LITERATURE REVIEW 12
2.1 Introduction
12 2.2
Overview of Mobile Robot 12
2.2.1 Autonomous Robot 13
2.2.2 Manual mobile Robot 14
2.2.2.1 Application of manual mobile robot 15
2.2.2.2 Manual mobile robot teaching pendant 16
2.3 Actuator
18 2.3.1 Types of DC Motors
19 2.3.1.1 Brushed motor
20 2.3.1.2 Brushless motor
20 2.3.2 Speed control of motor
21 2.4
Wheel 22
2.4.1 Wheel Classification 22
2.4.1.1 Standard wheel 22
2.4.1.2 Omni-directional wheel 23
2.4.1.3 Spherical Wheel 24
2.4.2 Mecanum wheel 25
2.4.2.1 Mecanum Wheel direction control 25
2.5 Robot Platform dimension
26 2.6
Microcontroller 27
2.6.1 PIC 28
2.6.2 ATMEL AVR 30
2.7 Programming
31
vii 2.7.1 History of Computer
31 2.7.2 Element of Computer
31 2.7.2.1 Hardware
32 2.7.2.2 Software
33 2.7.3 The Language of computer
33 2.7.4 Programming Language
34 2.8
Software for design 35
2.8.1 Software for mechanical design 35
2.8.1.1 Catia 36
2.8.1.2 AutoCAD 36
2.8.1.3 Solidwork 37
2.8.2 Software for design PIC Programming 38
2.8.2.1 Micro C 38
2.8.2.2 MPLab 39
2.8.3 Software for design circuit 39
2.8.3.1 Proteus 40
2.8.3.2 PCB Express 40
2.9 Material for robot bodies
41 2.9.1 Aluminium
42 2.9.2 Stainless steel
42 2.9.3 Mechanical fastener
43 2.9.3.1 Rivet
43 2.9.3.2 Screw
44 2.10 Project Related to mecanum wheels.
45
viii 2.10.1 Design and Control of Mobile Robot with Mecanum Wheels by Han et. al. 45
2.10.1.1 Project summary. 45
2.10.1.2 Introduction 46
2.10.1.3 Method 47
2.10.1.4 Project Result Discussion 47
2.10.1.5 Project overview 49
2.10.2 Designing Omni-Directional Mobile Robot with Mecanum Wheel by Efendi et. Al
49 2.10.2.1 Project Summary
50 2.10.2.2 Project Result and Discussion
51 2.10.2.3 Project Review
52
3.0 METHODOLOGY 53
3.1 The Overall Flowchart
53 3.2
Phase 55
3.2.1 Literature Research Stage 55
3.2.2 Design Stage 56
3.2.3 Development Stage 56
3.3 Study and Research
57 3.3.1 Journal
58 3.3.2 Book
58 3.3.3 Internet
58 3.4
Material Selection 59
3.4.1 Base 59
3.4.2 Mecanum Wheel 60
3.5 Designing Software
61 3.5.1 Mechanical designing software
61 3.5.2 Circuit designing software
63 3.6
Project tools and equipped 66
3.6.1 Drilling machine 66
3.6.2 Grinding machine 66
ix 3.6.3 Band Saw Metal Cutter
66 3.7
Conclusion 67
4.0 DESIGN AND DEVELOPEMENT
