MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION GRADUATION THESIS MAJOR: MECHATRONICS ENGINEERING TECHNOLOGY RESEARCH, DESIGN, AND MANUFACTURING OF SERVICE ROBOT INSTRUCTOR: TRUONG DINH NHON STUDENT: HOANG DOAN TIEN PHAT HUYNH THIEN PHUC LE VIET DUNG Ho Chi Minh city, June 2024 MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF INTERNATIONAL EDUCATION -------------------- GRADUATION THESIS RESEARCH, DESIGN, AND MANUFACTURING OF SERVICE ROBOT Advisor: Assoc. Trương Đình Nhơn Authors: Hoàng Đoàn Tiến Phát – 20146266 Huỳnh Thiên Phúc – 20146267 Lê Việt Dũng – 20146237 Ho Chi Minh, June 2024. Ho Chi Minh, December 2023 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION CỘNG HÒA XÃ HỘI CHỦ NGHĨA VIỆT NAM INTERNATIONAL EDUCATION Độc lập – Tự do – Hạnh phúc GRADUATION THESIS ASSIGNMENT Semester…… / academic year……………. Trương Đình Nhơn.
Student: Huỳnh Thiên Phúc. Phone: 0916046042 Student: Hoàng Đoàn Tiến Phát. Phone: 0965173949 Student: Lê Việt Dũng. Graduation thesis topic: - Topic Code: CDT-58.
- Title: RESEARCH, DESIGN AND MANUFACTURING OF SERVICE ROBOT. Initial data and documents: − Dimensions, structure, load capacity, and weight of the robot. − Documents and knowledge on automatic control, Servo Motor control transmission, Encoder. − Documents and knowledge on microcontrollers.
− Documents on Lidar A1M8. − Documents on ROS operating system specialized for autonomous robots. − Documents and knowledge on programming languages. Main content of the project: − Calculate forward and inverse kinematics equations.
− Develop digital maps and plan robot's trajectory on ROS. − Design and create 3D models. − Manufacture and assemble the model. − Complete and upgrade the design and manufacture a complete control system.
− Complete and upgrade the service interface, apply artificial intelligence (AI), and speech-to-text technology. − Complete the model and conduct experiments. Expected products i − Service robot model. − Mechanical design drawings and principal diagrams.
Date of Assignment: 6. Presentation Language Report: English Vietnamese Presentation: English Vietnamese HEAD OF DEPARTMENT ADVISOR ADVISOR (Signature and full name) (Signature and full name) ii COMMITMENT Topic: “Research, design and manufacturing of service robot” Adviser: Assoc. Trương Đình Nhơn. Group of students: Huỳnh Thiên Phúc ID: 20146267 Phone: 0916046042 Hoàng Đoàn Tiến Phát ID: 20146266 Phone: 0965173949 Lê Việt Dũng ID: 20146237 Phone: 0984156442 Submission date:.
We hereby declare that this graduation thesis is a work researched and carried out by ourselves. We do not copy from any published article without citing the original source. If there is any violation, we will take full responsibility. Ho Chi Minh city, June 29th, 2024 (Signature and full name) iii THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- SUPERVISOR’S EVALUATION SHEET Members: Huỳnh Thiên Phúc ID: 20146267 Phone: 0916046042 Hoàng Đoàn Tiến Phát ID: 20146266 Phone: 0965173949 Lê Việt Dũng ID: 20146237 Phone: 0984156442 Project: Research, design, and manufacturing of service robot.
Majors: Mechatronic Engineering. Trương Đình Nhơn. Recommendation for Protection or Not: 5. Grade: (in letters): Ho Chi Minh City, July, 2024 SUPERVISOR (Signature and full name) iv THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness --------- PRE-DEFENSE EVALUATION SHEET Members: Huỳnh Thiên Phúc ID: 20146267 Phone: 0916046042 Hoàng Đoàn Tiến Phát ID: 20146266 Phone: 0965173949 Lê Việt Dũng ID: 20146237 Phone: 0984156442 Project: Research, design, and manufacturing of service robot.
Majors: Mechatronic Engineering. Thesis advisor: Assoc. Recommendation for Protection or Not: 5. Grade: (in letters): Ho Chi Minh City, July, 2024 EXAMINER (Signature and full name) v THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- ---- EVALUATION SHEET OF DEFENSE COMMITTEE MEMBERS Members: Huỳnh Thiên Phúc ID: 20146267 Phone: 0916046042 Hoàng Đoàn Tiến Phát ID: 20146266 Phone: 0965173949 Lê Việt Dũng ID: 20146237 Phone: 0984156442 Project: Research, design, and manufacturing of service robot.
Majors: Mechatronic Engineering. Name of Defense Committee Member::. Recommendation for Protection or Not: 5. Grade: (in letters): Ho Chi Minh City, July, 2024 COMMITTEE MEMBER (Signature and full name) vi THANK YOU After spending quite some time studying in a decent educational atmosphere with wonderful teachers at HCMC University of Technology and Education, we are delighted to be students at this university, which has created many brilliant persons for the country.
We acquired a wide range of topics, from broad theoretical principles to specialized ones, and received practical experience through hands-on sessions in workshops and laboratories, which helped us strengthen our abilities and professional expertise. This graduation thesis provides an opportunity to apply our knowledge and research talents to this subject. It also helps us improve our cooperation abilities, plan and execute projects precisely, and build other skills like as logical thinking, design, and the usage of technical tools. Moreover, this project marks the culmination of our four-year academic journey, reflecting not only our educational maturity but also dedicated study.
To conclude this graduation thesis, our team expresses heartfelt gratitude to our adviser, Mr. Truong Dinh Nhon. His specialized knowledge in the field of engineering technology is an essential part of the project's success. His openness to share experiences has considerably aided our team's development.
Additionally, the assistance from subject teachers, seniors, and friends from the K20 Mechatronics class has also played a significant role in helping us complete our thesis. However, due to our limited knowledge and experience, it was inevitable that there were some mistakes in this graduation thesis. We respectfully ask for feedback and guidance so that we can improve and learn from these experiences to perform better in future projects. vii ABSTRACT The integration of Autonomous Mobile Robot has gained significant traction within manufacturing industries, revolutionizing processes, and enhancing efficiency.
However, the widespread adoption of AMR in public spaces remains relatively limited. This graduation thesis focuses on bridging this gap by presenting a prototype specifically designed for deployment in restaurants. The Autonomous Mobile Robot, which is developed and tested in this study, use Robot Operating System for controlling and shortest path planning, ensuring precise navigation within the restaurant environment. Employing a sophisticated shortest path algorithm, the Autonomous Mobile Robot efficiently maneuvers through the space, reaching its destination with optimal speed and accuracy.
One notable feature of this Autonomous Mobile Robot is its adaptability to serving dishes at multiple locations by allowing the assignment of multiple destinations. This flexibility not only streamlines the restaurant's operations but also showcases the potential for Autonomous Mobile Robots to enhance service delivery in diverse settings beyond traditional manufacturing contexts. Additionally, the robot features a graphical user interface on an accompanying HMI touch screen and a web server to give customers ability to place orders and interact with the robot. Moreover, the robot will also be equipped with voice communication capabilities, assisting in order placement, answering queries, and providing information to users.
viii TABLE OF CONTENT GRADUATION THESIS ASSIGNMENT. III SUPERVISOR’S EVALUATION SHEET. IV PRE-DEFENSE EVALUATION SHEET. V EVALUATION SHEET OF DEFENSE COMMITTEE MEMBERS.
VI THANK YOU. VIII TABLE OF CONTENT. IX LIST OF TABLES. XIII LIST OF FIGURES AND IMAGES.
XIV CHAPTER 1: INTRODUCTION TO GRADUATION THESIS.1: The Urgency of This Graduation Thesis .2: Reasons, Significant and Particularity of This Graduation Thesis .3: Objective of This Graduation Thesis .4: Subjects and Scope of Graduate Thesis Research.5: Novelty of The Graduation Thesis .6: Theorical Basis of This Study .8: Comprehensive Overview of Available Related Products .1: Pepper Robot from Softbank Robotics .2: Servi Robot from Bear Robotics .3: Pudubot2 from Pudu Robotics .9: Conclusion on Characteristics of The Available Service Robots .1: Characteristics and Their Functional Features. 9 CHAPTER 2: THEORICAL BASIS .1: Robot Design Requirements .2: Theoretical Basis of Mechanics.3: Selection of Materials for the Frame and Case of the Robot .2: Servo Automated Control System .1: Overview of Servo Automated Control System .2: Theorical Basis of Automatic Control System .3: A Method to Define PI Parameters .4: PI controller of DC Servo Motor .1: Position and Velocity – The State Variables .2: Moving Path of Robot’s Center of Mass .3: The Angular of Robot .4: Velocity of The Wheels .4: ROS2 – The Robot Operating System .1: Overview of ROS2 .2: Communication Between Devices .3: Communication Protocol in ROS2 .5: Adaptive Monte Carlo Localization .5: Path-Finding Algorithms .3: Dynamic Window Base .1: Overview of Tokenization .2: Type of Tokenization .3: Different Techniques and Algorithms.4: Tokenization in Modern NLP models.1: Overview of Text Embedding.2: Mathematical Foundation of Text Embedding .3: Distance and Similarity between Vectors .8: K-Nearest Neighbors Algorithm .1: About K-Nearest Neighbors .3: Cons and Pros of KNN algorithm. 46 CHAPTER 3: DESIGN AND CONSTRUCTION.2: Materials Constituting the Robot Frame .3: Design of Driving System .4: Design of Suspension System .5: Driving Wheels and Omnidirectional Wheels .2: Calculate and Select DC Motor with Appropriate Parameters.3: Modelling with SolidWorks .4: Constructing Mechanical Basis .1: Overview of Electrical System .4: BTS7960 43A High-power DC Motor Driver .5: Sensors and Peripheral Devices.8: Nav2 and AMCL .9: Retrieval-Augmented Generation .1: Ada-v2 Text Embedding Model .2: Pinecone Vector Database – The Retriever .5 Large Language Model .4: Retrieval-Augmented Generation Pipeline.5: Experiment and Comparison Between RAG and Regular LLM Response.6: Conclusion on Retrieval-Augmented Generation .10: Speech-to-Speech Conversation.2: Speech-to-text .3: Text-to-speech .4: Flowchart of Speech-to-speech System .12: Graphical User Interface on Touch Screen .13: Server and Website for Restaurants.1: About HTML, CSS, PHP, MySQL and JAVASCRIPT.14: Analyze trends and user behavior.15: Model and deploy html on MySQL server.16: Summary and overview of the system. 111 CHAPTER 4: EXPERIMENTAL EVALUATION.1: Evaluate Mechanical Design .2: Evaluate Electrical System .3: Evaluate Control System .4: Evaluate Speech-to-speech conversation .5: Evaluate Database and Webserver.
121 CHAPTER 5: CONCLUSION AND DEVELOPMENTAL DIRECTION .1: Conclusion on This Graduation Thesis .2: Limitations of This Study.3: Possible Developmental Direction .126 xii LIST OF TABLES TABLE 3.3: ARRANGEMENT OF PROPULSION SYSTEM .4: TYPES OF TRANSMISSION SYSTEM AND THEIR CONS, PROS .7: SPECIFICATIONS OF WAVESHARE UPS MODULE .8: SPECIFICATIONS OF JESTON NANO B01 .9: THE PI PARAMETERS FOR TWO MOTORS .77 xiii LIST OF FIGURES AND IMAGES FIGURE 1.2: A ROBOT ASSISTS A WAITRESS IN SERVING A LARGE AMOUNT OF FOOD .3: PEPPER ROBOT SERVING DISHES .1: SPECIFICATION REQUIREMENTS TABLE FOR ROBOT DESIGN.4: THE EQUIVALENT CIRCUIT OF A DC SERVO MOTOR .5: BLOCK DIAGRAM OF A DC SERVO MOTOR .6: GENERAL RESPONSE OF SERVO MOTOR AND HOW TO DETERMINE PI .7: THE KINEMATIC MODEL OF ROBOT .8: THE LINEAR VELOCITY OF EACH WHEEL RELATIVE TO ANY CENTER OF ROTATION .9: THE TRANSFORMATION TREE OF THE ROBOT SYSTEM .10: LOGO OF ROS2 .12: ARCHITECTURE OVERVIEW OF ROS API .14: START POINT ON THE GRID MAP .30 UPDATE VISITED NODE .18: LOOP OF ACTIONS TILL REACHING THE POINT N .19: SEQUENTIALLY LIST THE PARENT NODES .20: COMPLETED FINDING THE SHORTEST PATH.22: DYNAMIC WINDOW BASE.23: WHAT IS TOKENIZATION .24: ILLUSTRATION OF TOKENIZATION .25: AN ILLUSTRATION OF WHITESPACE TOKENIZATION .26: AN ILLUSTRATION OF REGULAR EXPRESSION TOKENIZATION .27: AN ILLUSTRATION OF PUNCTUATION TOKENIZATION .28: AN ILLUSTRATION OF LANGUE-SPECIFIC TOKENIZATION .29: TEXT TO VECTOR .30: DISTANCE DETERMINING METHOD .32: EUCLIDEAN DISTANCE IN 2D PLANE .33: EUCLID DISTANCE IN 3D SPACE .34: MANHATTAN DISTANCE ON A 2D SURFACE .35: COMPARISON BETWEEN EUCLIDEAN DISTANCE AND MANHATTAN DISTANCE .36: AN ILLUSTRATION OF KNN ALGORITHM .2: SHEETS OF STEEL.4: AN ILLUSTRATION OF DIFFERENTIAL DRIVE SYSTEMS .3: ARRANGEMENT OF PROPULSION SYSTEM .4: TYPES OF TRANSMISSION SYSTEM AND THEIR CONS, PROS .5: MOBILE ROBOT SUSPENSION SYSTEM .6: AN ALUMINUM-FRAMED WHEEL.7: SINGLE CASKET WHEEL .8: GP36-3650 DC SERVO MOTOR .9: PX57N005 PLANETARY GEARBOX .11: PROFILE PROJECT AND ORTHOGRAPHIC PROJECT OF AMR’S BASE .12: OVERVIEW OF MODELLED AMR .15: GS GT7A-H 12V BATTERY .7: SPECIFICATIONS OF WAVESHARE UPS MODULE .17: NVIDIA JETSON NANO MODEL B01.8: SPECIFICATIONS OF JESTON NANO B01 .23: 7INCH HMI LCD .9: THE PI PARAMETERS FOR TWO MOTORS .25: IMC-BASED PID CONTROLLER .26: NO-LOAD SPEED RESPONSE .27: LOAD SPEED RESPONSE .28: THE COMPLETED MAP .30: TOP 10 TEXT EMBEDDING MODEL ON MTEB LEADERBOARDS .31: AN EMBEDDING VECTOR GENERATED FROM TEXT .32: OVERVIEW OF VECTOR DATABASES.34: FIRST LOOK OF THE VECTOR DATABASE .