EE403 – INTRODUCTION TO ROBOTICS

2006502011 Onur ÇİNE

2006502012 Samet DEVELİ       2006502036 M.Alptuğ KIR

Project: OMNI-WHEEL ROBOT

Dokuz Eylül University

Electrical & Electronics Engineering Department

İzmir, TURKEY

2011-2012

 

 

GENERAL VIEW of THE OMNI-WHEEL ROBOT CAR

 

In this project our goal is to understand the application of hardware and software of a Omni-Wheel Robot system. This project includes 4 DC 200 rpm gearbox motors, a PIC16F877 microcontroller, 2 L298N Dual Full-Bridge Motor Driver ICs and a regulator circuit. The special omni-wheels provide going right or left directly without turning the robot around.

 

·         View of Robot

 

                                                                                         OPERATION of THE SYSTEM

 

The operation of the circuit is based on  sending related datas to the motors from the microcontroller as which directions we want them turn. Actually, the motor driver ICs are interfacing circuits to supply motors enough current. One of them drives 2 motors so, two of them are used for 4 motors.   The microcontroller is lack of supplying that  current to make a motor turn.

The motions of  the car are:

- going forward and backward

         - turning right and left

               - going right and left directly 

In order to achieve these behaviours, the omni-wheels types A and B are put to the related motors.

·         Wheel types arrangement and movement types of the car

 

The PIC microcontroller is programmed as making the ports high and low according to the related motions which are sent to the motor driver ICs. Before implementation of the circuit, simulation design of the whole circuit is get by using Proteus ISIS.

·          Proteus ISIS Simulation Design

 

                Proteus simulation implementation is obtained with using C programming language by using CCS C Compiler.

·         Codes