Swarm Robots for Autonomous Thrash and Garbage Removal

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The distance between the two plates can also be adjusted manually by movingtheir mounts along the slots inscribed in the central support to configure thegripper for different sized objects.The Robotic arm gripperThe robotic arm is powered by 4 (four) actuators- 1 pneumatic cylinder and 3DC motors. An electric signal from the microcontroller board activates asolenoid valve in the pneumatic actuator. An appropriate signal depending uponthe amount of rotation needed to the arm can actuate the pneumatic cylinder.The cylinder is connected off-axis to the arm so as to convert linear motion to arotary motion. Pneumatic cylinder offers the distinct advantage of higher torquecapability than an ordinary DC motor and helps us adhere to our corephilosophy of “cost effectiveness” in designing this system.Motors 1 and 2 impart rotary motion to the individual arm units depending uponthe amount of rotation required to reach the final end point.Motor 3 is the one that imparts the capability to grip an object. The motor shaftis connected to a flexible wires connected to individual finger on the hand of thearm. As these wires wind over the shaft of the motor, the fingers fold and gripthe object. A reverse motion of the motor causes the hand to release the object.
ELECTRONIC HARDWAREThe electrical system consists of compact printed circuitry boards that featureall the electronic system including a microprocessor and a wireless chip. Inaddition, various light emitting diodes (LEDs) as well as an optional LCD arestrategically mounted on the boards for debugging purposes.Power SupplyEach Robot features a 2-cell, 7.4V Lithium ion battery pack. Lithium ionchemistry batteries are preferable over other battery chemistries because of theirhigher energy density and lower cell count along with cheap and easyavailability.MicrocontrollerEach Robot’s top printed circuit board has an 8-bit ATmega 32,16MHzprocessor. This microcontroller processes of all the inputs and outputs,including creating the PWM motor driving signals. This ATmega32 was chosenbecause of its capabilities that lend themselves to easy implementation of sensorand control units. A JTAG programming port allows the hard-wireprogramming of the processor.Wireless CommunicationThe wireless communication between the central processing unit and each robotis facilitated by a Xbee 1 mW antenna wireless module which communicated
Page 1 and 2: Report for Shamsher Prakash Foundat
Page 3 and 4: Table of Contents1. Abstract2. Intr
Page 5 and 6: IntroductionSwarm robotics is the s
Page 7: MECHANICAL PLATFORMRobot DesignRend
Page 11 and 12: function calls. This complex functi
Page 13 and 14: • Frames are continuously acquire
Page 16 and 17: SIMULATIONS & TESTINGSimulation of
Page 18 and 19: The Modular Design ConceptOur empha
Page 20: Conclusion and Further EndeavourMul

Swarm Robots for Autonomous Thrash and Garbage Removal

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