INTELLIGENT MASTER SLAVE ROBOT
NIK HAKIMI B NIK ABD HALIM
This Report Is Submitted In Partial Fulfillment Of Requirements For The Degree of Bachelor In Mechatronic Engineering
FACULTY OF ELECTRICAL ENGINEERING
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
“I hereby declared that I have read through this report and found that it has comply the partial fulfillment for awarding the degree of Bachelor of Mechatronic Engineering”
Signature : ……….
Supervisor’s Name : EN MOHD SHAHRIEEL BIN MOHD ARAS
“I hereby declared that this report is a result of my own work except for the excepts that have been cited clearly in the references.”
Signature : ………
Specially dedicated to my dearest mom, Che Azma Binti Che Ishak and dad, Nik Abd Halim Bin Nik Yussof, my sister Nik Farhanim , my brother Nik Hafizzi and all
my fellow friends,
ACKNOWLEGMENT
ABSTRACT
ABSTRAK
TABLE OF CONTENTS
Chapter Description Pages
ACKNOWLEDGEMENTS I
ABSTRACT II
TABLE OF CONTENT IV
LIST OF FIGURE VII
LIST OF TABLE X
1.0 INTRODUCTION 1
1.1 Objectives 1
1.2 Scope Of Work 2
1.3 Problem Statement 3
1.4 Research Methodology 4
2.0 LITERATURE REVIEW 6
2.1 Research Project 6
2.1.1 i-Mars 6
2.1.2 Insect Behavior Robot 8
2.1.3 EDUBOT 9
3.0 ROBOT DESIGN 10
3.0 Introduction Robot Design 10
3.1 I-MS Robot Mechanical Structure 12
3.1.1 Robot Frame Material 13
3.1.2 Wheel 14
3.1.3 Actuator 15
3.1.4 Bluetooth Module 16
3.1.6 Battery 21
3.2 Software and Circuitry System 22
3.2.1 Circuitry System 22
3.2.2 Microchip PIC16F877A Microcontroller 24
3.2.3 PIC Startup Kit - SK40A 26
3.2.4 Bluetooth Communication Circuit 29
3.2.5 Power Supply Unit Circuit 29
3.2.6 Motor Driver Circuit 30
3.2.7 Infra-Red Sensor Circuit 31
3.3 Software Development 33
3.1.1 Programming for the robot 33
4.0 PROJECT DEVELOPMENT
4.0 Introduction 39
4.1 Mechanical Part 39
4.1.1 Robot Frame 39
4.1.2 Wheel 40
4.1.3 Jointing Wheel & The Base 40
4.1.4 Screw & Nut 41
4.1.5 Complete Base Of Mechanical Structure 42
4.2 Electrical Part 42
4.2.1 Sensors 42
4.2.2 Batteries 44
4.2.3 Polystyrene 45
4.2.4 Strip Board 45
4.2.5 Complete Of The Electrical Part 46
4.3 Wiring 47
5.0 RESULT AND DISCUSSION
5.0 Introduction 48
5.2 Robot Abilities 50
5.3 Project Evaluation 50
5.4 Summary 52
6.0 CONCLUSION AND FUTURE SUGGESTION 53
Reference 54
APPENDIX A 55
APPENDIX B 57
LIST OF FIGURE
No Title Pages
1.1 Scope Of Project 3
1.2 Diagram illustrate the methodology 5
2.1 Three Robots Systems 7
2.2 Two Robots Systems 7
2.3 I-MARS Three-Layered Reactive 8
2.4 Insect Behavior 9
2.5 EDUBOT 9
3.1 Ideas Of The Design 10
3.2 Isometric View of i – MS Robot 12
3.3 Top View 12
3.4 Side View 12
3.5 Front View 12
3.6 Acrylic Base 13
3.7 Wheel 14
3.8 RC Servo Motor 15
3.9 RC Servo Motor Component 15
3.10 KC Wirefree Bluetooth Module KC 21 17
3.11 Infrared Emitter And Receiver 19
3.12 IR Signal Transceiver 20
3.13 Reflected IR Sensor 21
3.14 Type of Battery That Using for Robot Power Source 21 3.15 Type of Battery That Using for Motor Driver Circuit 22 3.16 Overview of Electrical System Block Diagram 23
3.17 PIC16F877A 24
3.18 Pin Diagram for PIC16F877A Microcontroller 25
3.19 PIC Startup Kit - SK40B 26
3.21 Bluetooth Module Circuit Board 29
3.22 Schematic Circuit for Power Supply Circuit 30
3.23 Schematic Diagram for Driver Motor 31
3.24 Infra-red Sensor Circuit 32
3.25 Infra-red pair sensors setup 32
3.26 Flow of the programming process 34
3.27 Make a new project in MPLAB 34
3.28 Select the language tool suite 35
3.29 Set the language tool location 36
3.30 Setting the build option for the project 36
3.31 MPLAB programming 37
3.32 Flow chat for i-ms multi agent mobile robot 38
4.1 Base Robot 39
4.2 Top layer of the robot 40
4.3 Wheel 40
4.4 Special press nut 41
4.5 Combination wheel, servo motor and base 41
4.6 Screw 2.7 inch 41
4.7 Castor wheel 41
4.8 Complete mechanical structure 42
4.9 Castor wheel height adjusted 42
4.10 Sensors 43
4.11 Voltage regulator 43
4.12 Sensor are placed 43
4.13 Target board battery 44
4.14 Motor Driver Battery 44
4.15 Polystyrene 45
4.16 Microcontroller Is soldered 45
4.17 Soldered Bluetooth 46
4.18 Soldered motor driver base 46
4.19 Complete Electrical Part 46
4.21 Complete Of i-MS multi agent mobile robot 47 5.1 Movement of the Multi Agent Mobile Robot 49
LIST OF TABLE
No Title Pages
