SELF TRANSFORMING

ROBOT

TEAM MEMBERS:
Gaurav Sharma
(1180910032)
Maharshi Bijoy Das
(1180910051)
Mohammad Altamash .Y
(1180910058)

PROJECT GUIDE:
Mr. K. Sivanathan
OBJECTIVE
The primary objective of the project is to build a robot that can
achieve various modes of locomotion, such as Walking on
legs, Moving on wheels, Moving on inclined surfaces, etc.
In order to perform its action, the robot could change its
anatomy, in other words to transform its shape.
LITERATURE REVIEW
HYDRA ROBOT
The HYDRA project is part of the European IST program,
which is researching self-assembling robots.
The robots are built from many smaller identical modules,
which can attach to each other and move around, or create
a special shape to behave like a robot.
They can also transform their shape from a snake form to a
walking robot form.
This kind of robot has a huge advantage over other
designs of robots in terms of sharing power or to perform
self-repairing.

HYDRA ROBOT
SWARM ROBOT
The theoretical root of this project is to use swarm
intelligence for self-organizing and self-assembling
capabilities, like social insects and 12 other animal
societies.
In this system, each artifact is composed of a number of
simpler, insect-like robots.
PROJECT STEP FLOW
DIAGRAM
CAD Design using PRO/Engineer wildfire 4.0
Structural analysis using PRO/Mechanica
Optimization of Design
DESIGN OF PROTOTPE
Motor selection and control strategy (Servo control PWM)
Sensor selection, calibration and integration (Distance
Detection)
Battery requirement specification and selection
CONTROL DESIGN
Development of Algorithm to implement the defined objective
Interpreting the algorithm into VIs of LabVIEW Real time and
FPGA
Develop a GUI to control the operation of robot
LABVIEW REAL TIME AND
FPGA VI DEVELOPMENT AND
DEPLOYMENT
Testing of robot mechanism
Optimization of Design
Optimization of Control stategy and program
ROBOT IN ACTION
ROBOT MECHANICAL DESIGN
AND ANALYSIS
Pro/ENGINEER Model
Pro/MECHANICA Analysis

FABRICATION OF ROBOT
To keep the robot as light as possible, without a trade-off with
strength and rigidity, Aluminium material is chosen for the
chassis.

In order to assemble the chassis with the legs of the robot,
servo motors are used. A total of 18 iFlight standard servo
motors are used to connect the various links of the robots.
Technical Data:
Operating Voltage: 4.8v ~ 6.0v
Operating Speed: 0.18sec/60
Stall Torque: 4.2kg
Dimensions:
Size: 40.8x20.1x38.0mm
Weight: 38g


COMPONENTS ON THE
ROBOT
NI sbRIO




NI Single-Board RIO consists of a real-time processor and
analog and digital I/O on a single board programmable with
NI LabVIEW software.
The sbRIO has 110 Digital I/O and 32 Analog I/O

Parallax PING))) Ultrasonic Distance
Sensor





The PING))) Ultrasonic Distance Sensor is an all-in-one
module for accurately measuring distances between itself and
objects nearby.
The effective range is from about 1 inch to 10 feet (2
centimeters to 3 meters).
Battery and UBEC






As there are 18 iFlight standard servos in the self
transforming robot, it requires a separate LIPO Battery. The
robot has a FULLYMAX 7.4V 3250 mAh 25C LIPO battery.
Since the servo requires a regulated supply of 4.8 6 V, it
has 5V 5A UBEC.
LabVIEW CODING
Servo Motor Control block
Ultrasonic Sensor VI Block

CONCLUSION
The fabrication of the robot was completed as per the exact
dimensions of the model generated in Pro/ENGINEER and
Pro/MECHANICA. The analysis performed made sure that
the chassis system had minimum possible deformation.
The NI sbRIO controller was programmed to provide the
required reconfiguration of the anatomy of the robot. The
program written in NI LabVIEW FPGA and Real-Time Module
was working efficiently.
The PING))) Ultrasonic Distance Sensor was integrated
with the target sbRIO and the sensor was calibrated. The
sensor data was used by the self transforming robot for
obstacle avoidance operation.
THANK YOU