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MECHANICAL COMPONENTS
CHASSIS,CLAMPS LOCOMOTION SYSTEM ACTUATORS POWER SYSTEM CONTROL SYSTEM
THE FRAMEWORK:CHASSIS
STRUCTURAL MATERIALS
THE CLAMPS
ACKERMANN STEARING
BOTH THE REAR WHEELS ARE POWERED BY THE SAME SHAFT THE FRONT WHEELS PROVIDE FOR CURVILINEAR MOTION
SYNCHRO DRIVE
3 WHEELS ,ALL POWERED ALL WHEELS AT A GIVEN INSTANT POINT IN THE SAME DIRECTION CAN GO IN ANY DIRECTION HAS TO STOP BEFORE CHANGING DIRECTION,ELSE SKIDS
SYNCHRO DRIVE
ACTUATORS:MOTORS
WORKING PRINCIPLE
POWER EQUATION
POWER IN ROTATIONAL MOTION IS GIVEN BY TW T=TORQUE,W=ANGULAR VELOCITY THEREFORE,USEFUL POWER = TW POWER IS A DIRECT FUNCTION OF CURRENT =>MORE CURRENT DRAWN : MORE POWER DELIVERED
BOLD INDICATES PERFORMANCE UNDER ELECTRONIC RERGULATION TIHIN LINES INDICATE UNREGULATED PERFORMANCE
MOTOR CHARACTERISTICS
WHEELS
MECANUM WHEELS OMNI WHEELS CASTER WHEELS
MECANUM WHEELS
OMNI WHEELS
OMNI WHEELS
FWD/BCK: 1/3 F/B SLIDE L/R: 2/4 F/B CLK/CTRCLK : DIAGONALLY OPP WHEELS IN OPP DIRECTION LOW COST 4000 RS 4 WHEELS LOW EFFEICENCY
CASTER WHEEL
DUMMY WHEEL USED AS SUPPORT GENERALLY IN 3 WHEELED ROBOTS CAN MOVE IN ANY DIRECTION
POWER SYSTEM:BATTERY
LI ION BATTERY LEAD ACID BATTERY NI MH/NI CD BATTERY NI ZN BATTERY ZN MN02 BATTERY
BASIC TERMS
CELL:ELECTROCHEMICAL DEVICE SUPPLYING ENERGY BECAUSE OF AN INTERNAL CHEMICAL REACTION BATTERY:ONE OR MORE CELLS IN SERIES OR IN PARALLEL ESR:EQUIVALENT SERIES RESISTANCE,OR THE INTERNAL RESISTANCE OF THE BATTERY
BASIC TERMS
AMP HR CAPACITY: AMOUNT OF CURRENT A BATTERY CAN SUPPLY FOR 1HR BEFORE THE BATTERY VOLTAGE REACHES END OF CYCLE MPV: MID POINT VOLTAGE,VOLTAGE AFTER BATTERY HAS DISCHARGED 50%
BASIC TERMS
EOL: END OF LIFE VOLTAGE,VOLTAGE AFTER BATTERY IS COMPLETELY DISCHARGED ENERGY DENSITY: ENERGY TO WEIGHT RATIO
COMPARISONS
CELL TYPE ENERGY DENSITY (WHR/KG) NI MH NI CD LI ION LEAD ACID
90 25
55
50
COMPARISONS CONTINUED
=> PRODUCTS POWERD BY LI ION CAN BE MADE MUCH LIGHTER WITHOUT SACRIFICING RUN TIME ALTERNATELY => FOR SAME WEIGHT ENERGY SUPPLIED BY LI ION IS ALMOST DOUBLE
CELL VOLTAGE
LI ION AND NICD,NIMH ARE ALMOST IDEAL FOR LEAD ACID RATE OF FALL OF VOLTAGE WITH TIME IS HIGH
SELF DISCHARGE
SELF DISCHARGE => HOW QUICKLY A BATTERY WILL LOSE ITS ENERGY WHILE UNUSED,DUE TO UNWANTED CHEMICAL REACTIONS WITHIN THE CELL LEAD ACID: 4% TO 6% PER MONTH NI CD: 15% TO 20% PER MONTH NI MH: 30% PER MONTH LI ION: 2% TO 3% PER MONTH
DISSADVANTAGES OF LI ION
COST : LI ION>NI MH>NI CD>LEAD ACID RECHARGING:EXTREMELY CONTROLLED ENVIROMENTS,SPECIAL RECHARGING ICS HIGH ESR COMPARED TO NIMH AND NICD
ELECTRICAL CIRCUIT
WORD OF CAUTION
WHILE SOLDERING THE DPDT SWITCH,HOLD THE SOLDER GUN NOT MORE THAN 5 SECONDS IN CONTACT WITH THE POLES THE BOT MAY TOPPLE IF THE CG IS NOT ADJUSTED AND FALLS OUTSIDE THE BODY WHILE CLAMPING THE MOTORS,DONT EXCESS TIGHTEN THE SCREWS,ELSE GEAR BOX MAY GET DAMAGED