Volume 3 nr 1 / 2011 - Academia Oamenilor de Stiinta din Romania

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12 Claudiu Mihai Antal, Cristian Marius Neagu, Vladimir MoldoveanuThe microcontroller is, however, not custom made. The “brain” of the controllerboard is an ATmega 640, produced by Atmel. It has a clock speed of 16 MHz andhardware PWM clock generators, which make it well suited for the application athand.The reason in choosing this controller board instead of a more traditional PLC isits cost/capability ratio. While relatively cheap, it has in excess of 40 I/O ports,and 16 10 bit ADC channels. It is well suited for controlling several devices atonce, and to process signals from a wide array of sensor types (from presencesensors or micro switches, to encoders of all kinds, and even GPS receivers).Also, the software used to program it is free, a fact which cannot be said aboutPLC software.With that being said about the controller board, the design idea behind this projectshould be apparent. From the conception stages, the electronics were meant to notonly control the robot itself, but also additional equipment that works in relationwith the robot, and even a completely different application (as long as it makesuse of stepper motors) (fig. 5). It is meant to provide a hardware platform onwhich students can start learning how to program robots or automated productionlines in industrial environments.Fig. 5. Electronic component produced in-house.The L298 is a dual H-bridge driver. While the L297 represents the low powerlogic stage, the L298 is the high power drive stage. It is capable of drivingunipolar and bipolar stepper motors with up to 2 A current draw. Usually, astepper motor that draws 2 A of power is capable of 1.5 – 2 Nm of torque. Thisallows for further improvement in the robots structure in the form of morepowerful motors.Copyright © Editura Academiei Oamenilor de Știință din România, 2011Watermark Protected
The remanufacturing of an articulated arm robot, with 5 degrees of freedom 135.3. The programmingFig.6. Circuit design for the motor driversThe actual software writing process is very user friendly. The language employedis ANSI C. The IDE used for project development is AVR Studio, availablewithout charge from Atmel’s website.Since the user base for the Atmel AVR processor series is so wide, softwarelibraries have been developed to facilitate software development. The mostcomplete and user friendly one is Clive “Webbot” Webster’s library. It makesprogramming the controller of our robot an almost trivial affair.Also made by Clive Webster is the Project Designer. A Java based applicationthat creates all the hardware specifications and initializations for the user. With itshelp, adding I/O ports, PWM clock generators or ADC channels is done via dragand-drop.Using the tools at hand, relatively complex programs can be done by completebeginners in a matter of hours. It is just a matter of telling the Project Designerwhere different devices connect on the controller, and then, using AVR Studio,writing the actual program. This process replaces abstract calls to I/O ports withliteral expressions (i.e. replacing _SFR_MEM8(port) |= mask; withpin_high(enable);).All these tools are meant to help a student get comfortable with the hardwareplatform and the development process, allowing him to focus on designing theprocess.Copyright © Editura Academiei Oamenilor de Știință din România, 2011Watermark Protected
Page 1 and 2: ACADEMY OF ROMANIAN SCIENTISTSA N N
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Page 5 and 6: 3FOREWORDBased on a rich scientific
Page 7 and 8: Annals of the Academy of Romanian S
Page 11 and 12: The remanufacturing of an articulat
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Page 19 and 20: Influence of Vibrations and Dynamic
Page 27 and 28: Products recovery opportunities at
Page 29 and 30: Products recovery opportunities at
Page 33 and 34: Recycling and Remanufacturing -Two
Page 35 and 36: Recycling and Remanufacturing -Two
Page 39 and 40: The Study of Heavy Metal from Envir
Page 45 and 46: mg/kg d.wThe Study of Heavy Metal f
Page 47 and 48: ConclusionsThe Study of Heavy Metal
Page 51 and 52: Analytical Evaluation of Crack Prop
Page 55 and 56: Y d Notations:Analytical Evaluation
Page 63 and 64: General Considerations Regardingthe
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General Considerations Regardingthe
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General Considerations Regardingthe
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Annals of the Academy of Romanian S
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Intelligent Networks, Smart Grids C
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Two-dimensional Modelling of Accide
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Project Indicators -Essential Facto
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ConclusionsProject Indicators -Esse
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Critical Infrastructures Protection
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Disturbances in The Power Supply Ne
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Volume 3 nr 1 / 2011 - Academia Oamenilor de Stiinta din Romania

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