VI
ABSTRAK
Projek ini adalah bertujuan untuk merekabentuk dan membina sebuah robot yang
berfungsi untuk mengangkat objek dari sesuatu tempat ke tempat yang lain. Robot ini
dikawal sepenuhnya dengan menggunakan program "Visual Basic 6.0" di mana robot ini
akan berhubung dengan komputer sebagai pengkalan data (Data Base), dan pengguna
hanya perlu menggunakan papan kekunci/tetikus (keyboard/mouse) pada komputer untuk
mengawal pergerakan robot tersebut. Selain itu, robot ini juga dipasang sebuah "TV
sender" untuk memaparkan paparan sekeliling dan ini akan memudahkan lagi pergerakan
robot tersebut. Paparan pergerakan robot ini dapat dilihat melalui skrin monitor komputer
yang digunakan. "TV sender" ini juga dapat memaparkan paparan yang lebih meluas dan
menyeluruh kerana ia dapat berpusing sebanyak 360° dari kiri ke kanan dan sebaliknya.
Projek ini bertujuan bagi memudahkan lagi kerja mengangkat sesuatu objek dari satu
VII
ABSTRACT
The purpose of this project is to design and construct a robot which has a function
to pick and place any object. This robot is controlled by using visual basic 6.0 that is
connected to computer as its database and user use keyboard to control the movement of
that robot. Otherwise, this robot also have TV sender to display environment view and it
can make the movement of robot become simple. The movement of the robot will be
displayed on computer screen. TV sender also can display more wider and whole view
because it can rotate until 360° from left to right and vice versa. This project is design to
facilitate the user in dealing with the work that involved the pick and place only by using
CONTENTS
CHAPTER TITLE
TITLE DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRAK ABSTRACT CONTENTS
LIST OF FIGURES
LIST OF TABLES
LIST OF APPENDICES
Chapter I INTRODUCTION
1.1 Introduction
1.2 Project objectives
1.3 Project problem 1.4 Scope of project 1.5 Methodology
1.6 Scope of thesis
Chapter II LITERATURE REVIEW
2.0 Introduction
2.1 Studying from mobile robot system
ix
2.2 Robot platform selection 7
2.3 H-Bridge circuit 7
2.4 Stepper motor 9
2.4.1 Fundamental of operation 10
2.4.2 Rotation of stepper motor 11
2.5 Wireless camera 13
2.6 Power and batteries 14
2.7 Parallel port 15
2.7.1 Parallel pot background 15
2.7.2 Parallel port overview 15
2.7.3 Connection of Parallel port 18
2.7.4 How the signal is send through to the parallel port 19
2.8 Visual Basic 6.0 20
2.8.1 Theory on visual basic 6.0 20
2.8.2 Visual basic 6.0 program 22
2.8.3 If/Else/Then instruction 23
Chapter III
METHODOLOGY
253.0 Introduction 25
3.1 Project methodology flow chart 26
3.2 Explanation about the project methodology flow chart 27
3.2.1 Literature study 27
3.2.2 Circuit design 27
3.2.2.1 Power supply +5V 28
3.2.2.2 Transmitter circuit 29
3.2.2.3 Receiver circuit 31
3.2.2.4 Relay controlling circuit 32
3.2.3 Simulation 38
3.2.5 Soldering process
3.2.6 Testing circuit
3.2.6.1 Receiver and transmitter circuit testing
3.2.7 Troubleshooting
3.3 Mechanical design
3.3.1 Component selection
3.4 Software development
3.4.1 Programming in visual basic 6.0
3.4.2 Vidcap software
Chapter IV RESULT AND ANALYSIS 4.0 Introduction
4.1 Software result
4.2 Final hardware result
4.3 Camera testing
4.4 Transmitter and receiver testing
Chapter V DISCUSSION AND CONCLUSION 5.1 5.2 5.3 Discussion Conclusion Recommendation REFERENCES APPENDICES Appendix A - F
XI
LIST OF FIGURES
NO TITLE PAGE
2.1 Pick and place mobile robot 6
2.2 Mobile robot selected 7
2.3 Structure ofH-Bridge circuit 8
2.4 Two basic stage of the H-Bridge circuit 8
2.5 Stepper motor lO
2.6 Rotation of stepper motor 11
2.7 Wireless camera 13
2.8 Parallel port (female) Pin 16
2.9 Visual basic start up screen 21
2.10 If/Else/Then flowchart 24
3.1 Project methodology flow chart 26
3.2 IC LM7805 28
3.3 Schematic circuit of +5V power supply 28
3.4 Transmitter circuit 30
3.5 Transmitter TX-2B block diagram 30
3.6 Receiver circuit 31
3.7 Receiver RX-2B block diagram 32
3.8 Schematic Circuit of relay 32
3.9 Transistor test circuit 34
3.10 Schematic of relay 35
3.11 Circuit for receiving the parallel port signal 37
XII
1.11 Circuit after soldering process 39
1.14 CMOS LSis Test circuit 40
1.15 Block diagram for transmitter and receiver testing circuit 40
1.16 Top view mechanical design 41
.1.17 Side view Mechanical design 42
.LI8 Front view mechanical design 42
3.19 Back view mechanical design 43
3.20 Controller GUI 47
4.1 Menu for control mobile robot 49
4.2 Menu for display image 50
4.3 Final hardware result 51
4.4 Picture position house 53
xiii
LIST OF TABLES
NO TITLE PAGE
2.1 Parallel port's pins use 17
2.2 Parallel port data pins binary value 19
3.1 Specification ofthe DC motor 44
3.2 Component and material used 45
4.1 Camera JMK wireless test result 53
XIV
LIST OF APPENDICES
APPENDIX TITLE PAGE
A Programming Coding camera 61
B Programming Coding parallel port 63
c
Data sheet toy car remote controller 68D Simple Printer Port Interface Circuit 77
E Data sheet Diode IN4002 79
CHAPTER I
1.1 Introduction
Robotics are becoming widely used m the automation, medical,
manufacturing industries, also in many science fiction films and many others fields.
Building and programming a robot is a combination of mechanicals, electronics,
programming and also problem solving skills. Nowadays, robots are constructed
tended to be human-like.
The aim of this project is to design and construct a 'Pick and Place Mobile
Robot Control with PC'. This project will be involved both software and hardware
applications. The software that will be used for this project is Visual Basic 6.0 and
the hardware is circuitry that interface the computer and the remote control car.
The project will enable the user to control a remote control car usmg a
computer. The Visual Basic 6.0 is chosen because of its easiness of the usage. The
variety usage of this software are also the reason this software is suitable for this
2
1.2 Project objective
The main objective of this project is to design and develop a mobile robot for
pick and place application. The other objective is to make the robot that can be
controlled wirelessly using PC serial data transmission
Generally, the target can be divided into two parts, robots structural
construction (hardware) and robotic control system construction (software).
The robot control system is designed to control the movement of the robot to
make it feasible to achieve successful and reliable. The main controller for Pick and
Place Mobile Robot is the software controller that built using Visual Basic 6.0 using
the application of serial communication. The construction involves the skills of
attaching components onto circuits, building a graphical user interface (GUI) for the
user or operator that can easily manipulate the robots into a specific movement.
1.3 Project problem
Problem:
a) Difficulty faced by human to pick and place object from one place to
another place.
3
1.4 Scope of project
Scope for this project:
a) Use 4 motor for moving left, right, forward and reverse.
b) Visual Basic 'V6.0' programming to program controlling circuit.
c) The computer is used for the data base and user can control it by pressing the
keyboard for control the movement of the mobile robot.
d) TV sender can rotate 360° from left to right and the image can be view at the
monitor.
e) The mobile robot can pick the object (box) with the load weight under 200g.
1.5 Methodology
This project was started by searching the literature reviews from book and
internet regarding robotic system and learns visual basic V6.0 program. A few
circuits and process that found have to study first to make sure the entire project
successful.
The required circuit must be simulated because the simulation error will
denied this project. If the simulation show the circuit design was incorrect, circuit
will be redesign until the circuit can run smoothly. The circuit will be constructed on
PCB board after etching process done.
The PCB layout needs to be printed onto transparent film. The printed PCB
layout then need to be sticked together with the positive board and then exposed to the
ultra violet (UV) source. The PCB is soaked into developer and ferric chloride to remove
the unwanted cuprum. This process is called etching process.
After the circuit construction is completed, an initial testing will be done. The
