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TABLE OF CONTENTS
Abstract Abstrak
Acknowledgement Table of Contents
List of Figures List of Table
List of Abbreviations
1. INTRODUCTION
1.1 Background
1.2 Problem Statement
1.3 Project Objectives
1.4 Scope
1.5 Project Overview
i ii
iii iv
viii xii
xiii
1 1
2 3
3 4
2. LITERATURE REVIEWS
2.1 Introduction to Robot 2.2 Robot Categories
2.2.1 Industrial Robot 2.2.1.1 Classification of Industrial Robots
2.2.2 Mobile Robot 2.2.2.1 Classification of Mobile Robots
2.2.2.2 Type of Mobile Robot Navigation 2.3 Major Component of Mobile Robot
2.3.1 Electric Motor 2.3.1.1 DC Motor
2.3.1.2 Brushless Dc Motor 5
5 6
6 7
9 11
13 14
14 15
19
v 2.3.1.3 Stepper Motor
2.3.1.4 Servo Motor 2.3.2 Sensor
2.3.2.1 Sonar Sensor 2.3.2.2 Infrared Sensor
2.3.2.3 Touch Sensor 2.3.3 Microcontroller
2.3.3.1 ROM 2.3.3.2 RAM
2.3.3.3 CPU 2.3.3.4 InputOutput Port
2.4 Programming 2.5 Previous Research
20 21
22 22
24 25
26 27
27 28
28 29
30
3. METHODOLOGY
3.1 Introduction
3.1.1 Research of Project Phase 3.1.2 Design of Project Phase
3.1.3 Implementation Phase 3.2
Project Planning
3.2.1 Identifying the Problem Statement, Objectives and Scope of
Project 3.2.2 Literature Review
3.2.3 Methodology 3.2.4 Project Implementation
3.2.4.1 Body Structure 3.2.4.2 Electronic Circuit
3.2.4.3 Behavior Planning 3.2.5 Integration
3.2.6 Testing 3.2.7 Analysis of Result
37 37
37 38
38 38
40
40 40
41 41
44 45
45 46
46
vi 3.3 Selection of Component
3.3.1 Brushless DC Motor 3.3.2 Microcontroller
3.3.3 Photoelectric Sensor
4. DESIGN AND DEVELOPEMENT
4.1 Electronic Circuit 4.1.1 Printed Circuit Board Development
4.1.2 Circuit Board Description 4.1.2.1 PIC Microcontroller Board SK40B
4.1.2.2 Motor Driver Board MD10A 4.1.2.3 Motor Driver Circuit Board
4.1.2.4 Sensor Circuit Board 4.1.2.5 Power Supply Circuit Board
4.2 Development of Mechanical Structure. 4.2.1 Base of Robot.
4.2.2 Lifting Mechanism. 4.2.3 Gripping Mechanism.
4.3 Electrical Wiring 4.4 Programming
5. TESTING, RESULT AND DISCUSSION
5.1 Introduction
5.2 Testing
5.3 Result
5.4 Discussion
6. CONCLUSION AND RECOMMENDATION
