VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITY HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY FACULTY OF MECHANICAL ENGINEERING DEPARTMENT OF MECHATRONICS ENGINEERING MECHATRONICS SYSTEM DESIGN PROJECT REPORT GOODS DELIVERY ROBOT BASED ON WEIGHT-DETECTING Students ID Number Đỗ Hoàng Khương 1952798 Đặng Ngọc Trí 1953039 Nguyễn Phước Vinh 1953101 Vũ Xuân Vinh 1953103 Instructor: Dr. Phạm Công Bằng Ho Chi Minh City - 2023 ACKNOWLDGEMENTS We would like express our deep gratitude to Dr. Phạm Công Bằng because of his patient guidance, enthusiastic encouragement and useful critiques of this project througout our inplementation of this project. The knowledge learned during in this project is perfectly useful to each individual student in our group.
This project is a complete synthesis of knowledge from previous subjects, helping each student in our group understand the process from forming to building an completely fixing the system that created by themselves. At the same time, our group also express our deep gratitude to Falculty of Mechanical Engineering - Department of Mechatronics Engineering that given our group an opportunity to complete, present and defend our project, through this, our group can also learn more valuable experiences from other teachers, to improve the group’s working and learning capacity in the future and contribute to improving knowledge and working experiences too. During the project implementation, although we tried to our best to avoid shortcomings, but it is impossible to completely avoid errors in knowledge and experices. So that, we hope that teachers in department can give us some comments to help us to improve and consolidate knowledge and experience to better complete this project or similar projects in the future.
We look forward to receiving your sincere feedbacks and suggestions. We sincerely thank you. TABLES OF CONTENTS ACKNOWLDGEMENTS. TABLE OF CONTENTS .1 Introduction of Line Tracking Robot .2 Delivery goods robot .3 Mechanical design of some mobile robots .1 TZAGV-B02 smart Mobile AGV Robot.2 The other structure of 3 wheels .3 The other structure of 4 wheels .5 Assign tasks to implement the project .10 PART II: SELECTION METHOD .1 Compare the advantages and disadvantages of several types of principle diagrams.2 Influence and comparison between the number of wheels .3 Comparison and summary table .2 Micro-controller selection .1 Compare the advantages and disadvantages of several types micro-controller .2 Comparison and summary table .3 Other electrical selections.2 Low voltage circuit .3 Line detecting sensor .25 PART III: MECHANICAL DESIGN .1 The centroid of mass .2 Chassis robot calculation .3 The centroid of mass .4 The pre-build of robot’s mechanical structure .34 PART IV: MOTOR CONTROL .1 Determine number of samples and sampling time .2 Transfer function of motor 1 estimation .3 Transfer function of motor 2 estimation.
42 PART V: SYSTEM MODELING. Model analysis and calculations. Dynamic equation of robot .45 PART VI: SENSORS CALIBRATION. Calculating resistor for each sensor.
Determine how to mount the sensor. Determine the height to place the sensor.55 Sensor operating range. Distance between sensors. Calculate the error by weighted average approximation.
Build the sensor circuit. Mechanical design for install IR sensors system to the robot .3 The number of batteries calculation .64 PART VII: CONTROL DESIGN .1 Controller design criteria .3 Flow chart of control algorithm .2 Error between the sensor center and the line center line .5 Comment the result of simulating .83 PART VIII: SUMMARY .1 Comment to the implemented project .2 Orientation for project development .85 LIST OF FIGURES Figure 1. 1 TZAGV-B02 smart Mobile AGV Robot. 2 Principle of mechanical design.
3 Structure of 3 wheels robot. 4 Structure of 4 wheels robot. 5 Principle of mechanical design of 4 wheels robot. 6 Tarbar line following robot.
7 TARBAR robot structure. 9 Mechanical structure of Usain Volt 2. 10 The map of line. 1 Roller ball bearing.
3 ESP32-S micro-controller. 4 Arduino Micro Compatible. 6 DC-DC Buck LM2596 3A. 7 TCRT5000 Infrared Reflective Sensor.
8 Loadcell 5kg sensor. 9 Wheatstone bridge circuit in loadcell. 10 ADC Converter HX711. 11 18650 Li-Ion Battery.
1 Coordinate applying to robot. 2 Forces acting on the wheels. 3 DC Servo JGB37-520 Geared Motor. 4 Calculation model and force analysis when the robot takes a turn.
5 Mass of centroid of the robot. 6 3D structure of robot in Solidworks. 7 Total deformation analysis in Ansys Workbench. 8 Equivalent Elastic Strain analysis in Ansys Workbench.
9 Equivalent stress analysis in Ansys Workbench. 2 Diagram of input and output of motor 1 over time. 3 Diagram of ouput after processing of motor 1 over time. 4 Diagram of transfer functions estimation of motor 1.
5 Step respond of motor 1. 6 Re-check the transfer function after processing of motor 1. 7 Diagram of %PWM and RPM of motor 2. 8 Diagram of input and output of motor 2 over time.
9 Diagram of transfer functions estimation of motor 2. 10 Step respond of motor 2. 1 System modeling of robot in Oxy. 2 System modeling of robot in Cxy.
3 Velocity between two wheels simulation in matlab software. 4 Velocity between two wheels. 1 Wiring loadcell with ADC Converter HX711 to ESP32-S. 2 Loadcell sensor calibrating result.
3 Loadcell sensor calibrating result – unit: grams. 4 PACKAGE DIMENSIONS in millimeters of TCRT5000. 5 Sensor TCRT5000 circuit diagram. 6 Collector emitter saturation voltage and collector current.
7 Forward Current and Forward Voltage. 8 Effect of sensor placement on switching distance Xd. 9 Analyze the transceiver area of the TCRT5000 sensor. 10 Minimum distance between 2 adjacent sensors.
11 The model represents case of 2 sensors with in-line detection areas. 12 The model represents case of 3 sensors layout. 13 the linear approximation equation from data. 14 Sensor circuit wiring diagram.
15 The circuit is built with Altium. 16 The actual circuit after printing. 17 Mechanical design for line detecting sensor installation. 18 Shape of the robot after completing design and installation.
19 The actual shape of the robot after completing the overall design 67 Figure 7. 2 Block diagram of motor – driver controller in Matlab Simulink. 3 PID Tuner in Simulink using for Motor – Driver 1. 4 PID Tuner in Simulink using for Motor – Driver 2.
5 General block diagram of robot. 6 Main program of robot controlling. 7 Return block of robot. 8 Run block of robot.
9 Simulation of robot operation in Matlab software. 11 The actual error when the robot follows the line is 1kg. 12 The actual error when the robot follows the line is 2kg. 13 The actual error when the robot follows the line is 1kg.
14 The actual error when the robot follows the line is 2kg. 82 LIST OF TABLES Table 1. 1 Devided tasks for each member in group. 1 Comparing principle diagram of some structures.
2 Comparing principle diagram of some structures Table 2. 3 Comparing principle diagram of some structures. 4 Estimating to choose the most appropriate structure. 5 Comparing 3 types of popular micro-controller.
6 Estimating to choose the most appropriate micro-controller. 8 ADC Converter HX711 parameters. 9 ADC 18650 Li-Ion Rechargeable Battery. 1 The DC Servo JGB37-520 Geared Motor parameters.
PART I: OVERVIEW In order to best implement the topic of this project, it is necessary to carefully prepare the goals and a complete construction plan for the project. Therefore, in this section, analyzing and referencing existing and existing structures in the market is an inevitable thing to do. After that, the topic will be clearly described and analyzed again, as well as determining the tasks that need to be completed in this project to best complete the final assigned task. Along with that will be the assignment of tasks to each team member to ensure progress and task completion in the best way.1 Introduction of Line Tracking Robot Line tracking robot is a special case of mobile robot, in which the robot detects the relative position of the robot and follows the existing line (word line, color line).
Currently, line detection robots are widely used in industrial manufacturing processes, carrying objects to special locations. Nowadays, there are large number of types of mobile car with the purpose of automatic future. To adapt this trend of the world, Mechatronics faculty of University of Technology constructs the line map system in second project subject to open opportunity for student access the experiment and creativity. The following mobile car includes various function for operation in many areas of life and factory.
There is plenty of requirement and standard in designing a following line mobile; therefore, we need to concern some of problem below: - Modeling + Modeling of kinetics. + Modeling of sensor. - Mechanical + Selection of number of adapting motors. + Selection of types of wheels.
+ Parameter of body. - Electrical + Selection of motor driver. 1 + Micro-controller design. - Controlling + Controlling mode.2 Delivery goods robot Goods distribution robot is a general concept that refers to all systems that can transport goods without human intervention.
In industry, goods distribution robots are understood as automatic transport vehicles applied in the following fields: - Provide parts arrangement in warehouse and production areas. - Transfer goods between production stations. - Distributing and supplying products, especially in trading. - Supply and arrangement in special areas such as hospitals, supermarkets, offices.
Specifically, according to the topic of Robots distributing goods in the form of vehicles (mobile robots), in reality there are AGVs and AMRs.1 AGV (Automated Guided Vehicles) It is a type of mobile robot that is used in manufacturing facilities, warehouses, and other industrial settings to automate the transportation of materials and goods. AGVs are equipped with sensors, cameras, or other navigation technology that allows them to move autonomously and safely throughout a controlled environment. AGVs can be programmed to follow predefined paths or to navigate using more advanced methods like laser-based navigation, magnetic tape, or natural feature recognition. They are used to transport materials such as raw materials, work-in- progress, finished products, and even tools and equipment from one location to another.
This automation can improve efficiency, reduce labor costs, and enhance the overall productivity of a facility.2 ARM (Autonomous Mobile Robot) A type of robotic system designed to move and operate autonomously in various environments. These robots are equipped with sensors, cameras, and other technologies to navigate and make decisions without human intervention. ARMs are used in a wide range of applications, including industrial automation, logistics, healthcare, and even consumer products. ARMs are continually advancing and finding new use cases as technology improves.
They play a significant role in the automation of tasks in various industries and have the potential to revolutionize logistics, manufacturing, and other fields.3 Mechanical design of some mobile robots 1.1 TZAGV-B02 smart Mobile AGV Robot The AGV mobile chassis is 600w, has a height of 212mm, a small height and a low center of gravity. The AGV upper panel is equipped with an expandable interface, such as power interface, communication interface, IO interface, etc., to facilitate device control or communication. In addition to the automatic tape guiding device, the AGV controller is powerful and software-rich. Users can quickly implement project, route planning, route changes, even when the route is complicated.
The implementation is as simple and convenient as it is. 1 TZAGV-B02 smart Mobile AGV Robot Item Specification Dimensions 880 × 560 × 212 Moving speed 𝑚 0.9 𝑠 3 Carrying capacity 200𝑘𝑔 Battery 𝐷𝐶24𝑉, 30𝐴ℎ, Positioning Accuracy ±5𝑚𝑚 - The principle of mechanical design of TZAGV-B20: Figure 1. 2 Principle of mechanical design - Navigation method: Differential drive.