Mechanical
+
Electronics
+
Electrical
+
Idea
=
MICRO RUNNER
(LEGGED ROBOT)
******************************************************
******************************************************
This Blog will show the progress development project and circuit. Each step will explain in detail include the material and item that be used.
Week 14
7.0 Preparation and
Present about the project
The presentation will start on 8/11/12 (Thursday) week 14 and
all FYP Degree semester 2 will present their project. Each student will be
examined by two checks, My Assessors are also many suggestions for my project
and in syaa allah, I will propose my ideas on Assessors to my supervisor Mr.
Abdul Razak Ahmad.
Week 13
6.0
Create Poster and Template
6.1 Poster
6.2 Template
Week 11 & Week 12
5.0
Finishing robot development
Use
LI-PO rechargeable battery 7.4 V 4500mAH to support 12 servo motor.
Connect
the 9V battery to supply the PIC circuit.
The
PIC Microcontroller circuit at the top robot body
The
leg robot start moving
In the table below is the number of
servo motor step movements, robot leg number, and the function each servo motor.
|
Step Number
|
Leg Robot Number
|
Servo Motor Number
|
Function
|
|
1
|
3
|
7
|
Pull up
|
|
1
|
4
|
9
|
Pull up
|
|
2
|
3
|
10
|
Forward
|
|
2
|
4
|
12
|
Forward
|
|
3
|
3
|
7
|
Pull down
|
|
3
|
4
|
9
|
Pull down
|
|
4
|
3
|
10
|
Backward
|
|
4
|
4
|
12
|
Backward
|
|
5
|
1
|
1
|
Pull up
|
|
5
|
2
|
3
|
Pull up
|
|
6
|
1
|
4
|
Forward
|
|
6
|
2
|
6
|
Forward
|
|
7
|
1
|
1
|
Pull down
|
|
7
|
2
|
3
|
Pull down
|
|
8
|
1
|
4
|
Backward
|
|
8
|
2
|
6
|
Backward
|
Refer to the table the
step number is more, so the robot movement is slowly because need to follow the
step flow until the step end and repeat again. Then, with this movement robot
stability is high and good performance. This project use six (6) leg but only four
(4) legs is function. The two (2) legs at the medium are for robot stand to get
the stability from falling. Another that, the stand leg is to support the robot
weight and the robot can move easily.
5.1Summary
The
testing of the hardware and software for every part had been done and all the
results had been analyzed. There are other parts of testing and maintaining that
had been done in this week which were testing the functionality of PIC
Microcontroller, testing the Servo Controller circuit, testing the
functionality of touch sensors with microcontroller and the important part is
the leg synchronizing. This project is declared as successful.
Week 8, 9 & 10
4.0
Programming source code development
This
programming source code is very difficult to build so need more time to get the
correct program. For the first time build basically more error occur then after
fix it, this program can use to control the robot movements.
// main function (main function of the
program)
void main()
{
unsigned
int i,j,k,a=0, temp=0;
unsigned
char sp=0;
// set I/O input output
TRISB = 0b00000011; //configure PORTB I/O direction
// Configure UART
SPBRG=129; //set
baud rate as 9600 baud for 20Mhz
BRGH=1; //baud rate high
speed option
TXEN=1; //enable transmission
TX9 =0; //8-bit transmission
RX9 =0; //8-bit reception
CREN=1; //enable reception
SPEN=1; //enable serial port
SYNC=0; //Asynchronous mode
LED1=0; // OFF LED1
LED2=1; // OFF LED2
sp=70; //speed value
for the servo
while(1)
{
if(SW1==0)
{
while(SW1==0); //SW1 press and waiting for release
on_off_cmd(0,1); //ON all the channel
LED2^=1;
}
else if(SW2==0) //if SW2 is pressed
{
while(SW2==0); //SW2 press and waiting for release
while(1) //infinity loop
{
///////////////////////////////////////////////////
leg right up //////////////////////////////////////////////////////////////
for(k=1;
k<3; k++) //servo channel 1-8 loop
{
position_speed_cmd(k,5000,sp);
// send command Servo posisitoning
with speed
}
while(request_position_cmd(1)<4900)
// read the position from channel 1
after sending request position command
{
}
// if the position is smaller than
6900, loop here until the position is bigger then 6900
///////////////////////////////////////////////
leg right forward ////////////////////////////////////////////////////////
for(k=3;
k<5; k++)
{
position_speed_cmd(k,5000,sp);
}
while(request_position_cmd(3)<4900)
{
}
///////////////////////////////////////////////////
leg right down /////////////////////////////////////////////////////////
for(k=1;
k<3; k++)
{
position_speed_cmd(k,1000,sp);
}
while(request_position_cmd(1)>1100)
{
}
///////////////////////////////////////////////////
leg right reverse ///////////////////////////////////////////////////////
for(k=3;
k<5; k++)
{
position_speed_cmd(k,1000,sp);
}
while(request_position_cmd(3)>1100)
{
}
//////////////////////////////////////////////////////
leg left up /////////////////////////////////////////////////////////////
for(k=5;
k<7; k++)
{
position_speed_cmd(k,5000,sp);
}
while(request_position_cmd(5)<4900)
{
}
//////////////////////////////////////////////////
leg left forward /////////////////////////////////////////////////////////
for(k=7;
k<9; k++)
{
position_speed_cmd(k,1000,sp);
}
while(request_position_cmd(7)>1100)
{
}
//////////////////////////////////////////////////////
leg left down ////////////////////////////////////////////////////////
for(k=5;
k<7; k++)
{
position_speed_cmd(k,1000,sp);
}
while(request_position_cmd(5)>1100)
{
}
//////////////////////////////////////////////////////
leg left reverse //////////////////////////////////////////////////////
for(k=7;
k<9; k++)
{
position_speed_cmd(k,5000,sp);
}
while(request_position_cmd(7)<4900)
{
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}
}
}
}
// subroutine for Servo Controller 8
channel command ( SC08A)
//===============================================================
// command Servo positioning with
speed
void position_speed_cmd(unsigned
char channel, unsigned int position, unsigned char speed)
// send 4 bytes of command to control
servo's position and speed
{
unsigned char first_byte=0,
higher_byte=0, lower_byte=0;
// First byte combined the mode and
servo channel
// ob xxx xxxxx
(in binary)
// mode channel
// for servo positioning with speed
command, the mode value is 0b111xxxxx
first_byte=0b11100000|channel;
higher_byte=(position>>6)&0b01111111;
// position value from 0-8000 are
greater than a byte
lower_byte=position&0b00111111;
// so need two bytes to send
// send
command to SC08A in 4 byte - Mode with channel, higher byte of position, lower
byte of position, and speed
uart_send(first_byte);
uart_send(higher_byte);
// second byte is the higher byte of
position 0b0xxxxxxx
uart_send(lower_byte);
// third byte is the lower byte of
position 0b00xxxxxx
uart_send(speed);
// fourth byte is the speed value
from 0-100
}
// command Enable/disable the servo
channel
void on_off_cmd(unsigned char
channel, unsigned char on_off)
{
unsigned char first_byte=0;
// First byte combined the mode and
servo channel
// ob xxx xxxxx
(in binary)
// mode channel
// for servo positioning with speed
command, the mode value is 0b110xxxxx
// channel = 0 meaning all channel
first_byte=0b11000000|channel;
// send command to SC08A in 2 byte -
Mode with channel and ON/Off channel
uart_send(first_byte);
uart_send(on_off);
// 2nd byte: 1 = enable/activate; 0=
disable/deactivate
}
// command requesting position of
servo channel
unsigned int
request_position_cmd(unsigned char channel)
{
unsigned char first_byte=0,
check_id, higher_position, low_position;
// First byte combined the mode and
servo channel
// ob xxx xxxxx
(in binary)
// mode channel
// for servo positioning with speed
command, the mode value is 0b101xxxxx
// the channel value cannot be 0 in
this command
first_byte=0b10100000|channel;
// send
command to SC08A in 1 byte - Mode with channel; after that SC08A will send back
the position value
uart_send(first_byte);
// Received position from SC08A in 2
byte
higher_position=uart_rec();
// first byte is the higher byte of
position 0b0xxxxxxx
low_position=uart_rec();
// second byte is the higher byte of
position 0b00xxxxxx
// combine the higher byte and lower
byte into 16 bits position
position=higher_position<<6;
position=position|(low_position&0x3F);
return position;
}
// command servo starting position
for next resetting of SC08A
// this
command is useful when you need the servo motor position to start at different
position (not at the middle position which is the default starting position for
the servo)
// this subroutine is not use at the
sample program
void init_servo(unsigned char
channel, unsigned int position)
{
unsigned char first_byte=0,
higher_byte=0, lower_byte=0;
// First byte combined the mode and
servo channel
// ob xxx xxxxx
(in binary)
// mode channel
// for servo positioning with speed
command, the mode value is 0b100xxxxx
// channel = 0 meaning all channel
first_byte=0b10000000|channel;
// initial position for the servo
start on next time
higher_byte=(position>>6)&0b01111111;
// position value from 0-8000 are
greater than a byte
lower_byte=position&0b00111111;
// so need two bytes to send
// send
command to SC08A in 3 byte - Mode with channel, higher byte of position and
lower byte of position
uart_send(first_byte);
uart_send(higher_byte);
// second byte is the higher byte of
position 0b0xxxxxxx
uart_send(lower_byte);
// third byte is the lower byte of
position 0b00xxxxxx
// after that, the SC08A will acknowledge
the MCU with a byte, 0x04
while (uart_rec()!=0x04)
// wait the 0x04 value from SC08A
{
}
}
// subroutine for UART
//===============================================================
unsigned char uart_rec(void) //receive uart value
{
unsigned char rec_data;
while(RCIF==0); //wait for
data
rec_data = RCREG;
return rec_data; //return
the data received
}
void uart_send(unsigned char data)
{
while(TXIF==0); //only send
the new data after
TXREG=data; //the
previous data finish sent
}
void uart_str(const char *s)
{
while(*s)uart_send(*s++);
}
///////////////////////////////////////////////////////////
END ///////////////////////////////////////////////////////////////
Week 7
Continue
circuit development
After
finish etching the circuit, dry it then drill the PCB board to place the
component. Make sure use the mini drill to avoid the circuit connection from
broken.
Place
the component at the board follow the circuit diagram. Then solder the entire
component.
The
PIC Microcontroller circuit completion
The
Voltage Regulator circuit completion
Week 6
3.0
Circuit development
After
design the circuit use the Proteus simulation software create the PCB layout to
print into PCB board.
This
PCB layout is for PIC Microcontroller circuit. After that, print this PCB
layout use laser jet printer to get the better layout. Then, iron the layout at
the PCB board. Effects from this iron heat will leave the black line into the
PCB board.
The
PCB layout and the PCB board
Iron
the PCB layout at the PCB board
The
PCB layouts leave the black line into the PCB board
After
that, etching the board into the etching liquid to get the cooper circuit
layout
Week 5
Continue
project development
Put
the servo motor at the part of leg.
Finish
put the servo motor at the robot leg. Make sure the servo motor position for
each leg is correct and same.
Combine
the robot leg and body together.
Make
the shaft rod (clothes hanger) to connect between servo motor and robot leg. Long
shaft rod refers to distance between servo motor and robot leg.
Week 4
Continue
project development
After
finishes build the part of leg, we continue to build the robot body follow the
design sketches.
The
part of robot body. The hole at the center is for servo motor placements. Make sure
cut the plates safely because to avoid the plates from broken.
Make
the screw hole to the robot body.
Put
the servo motor and tight it use the screw. After cut the plates, use the
sandpaper or fisted scar to make sure the plates is smooth.
Week 3
Continue
project development
Use
the acrylic plate acid to attach the two plates together. Beware, to use the
acid because it will damage the plates.
For
the movement part use the screw and nut to tight the plates. Use the suitable
drill to make the screw hole.
Then,
screw the movement part of leg together. Build 6 set for this part of leg
because we develop the hexapod robot. Make sure the measure value between the
plates is correct and sharp to get the satisfied leg.
Week 2
2.0
Project Development
2.1 Acrylic
Acrylic
had been selected to be a main material because it provides to reduce the
overall weight of the robot, holes can be drilled into non-critical portions
and easy to shaping and forming. For the Micro Runner, most of the six legged
robot including its body and legs are built using 3mm acrylic plate. The body
will be the platform that will allow for the robot’s motion as well as carry all
the necessary circuits and power supply.
Acrylic plate
Sketch the design at
the acrylic plate follow the leg design and body design. Cut the plate use the
jig saw machine. Make sure the measure value is correct and sharp.
Week 1
1.0 Design Project and Circuit
1.1
Project Design
The
Leg Design
The Body Design
This design uses the Microsoft Excel software. This 2D design is
simple and easy to understand also look clearly.
1.2 Circuit Design
PIC
Microcontroller circuit
Voltage
Regulator 5V 3A circuit
This
design uses the Proteus simulation software. This simulation software is easy
and simple to use. For the PIC Microcontroller circuit need the programming
source code to function. This programming develops use the MPLAB compiler
software. This compiler is suitable for C-language.
This
MPLAB compiler software is to build the programming for the project. This
compiler software is suitable for PIC 16F family and other PIC microcontroller
user. However, all interface and program should be developed by user. This
compiler software is related to PIC kit programmer and Proteus software circuit
development.
The
MPLAB Programming Compiler Software
This
Proteus simulation software is that to design the circuit for the project. This
simulation software is suitable for all design circuit and others controller circuit.
However, all interface and design should be developed by user. This simulation
software can relate to another PIC kit programmer and any other compiler
software.
The
Proteus Simulation Software
