CHAPTER 2

LITERATURE REVIEW

2.1. Introduction
In this chapter, the literature review will be described. The literature review is the
one that describes the system that is implemented by others with other different
technology.
Prof. C. J. Shende: In this paper they have prepared manually handle device
which is capable to cut the grass. This device consists of linear blades and it does not
affected by climatic conditions. The main objective of this paper is to move the grass
cutter is different directions to prepare various designs as per requirements. By using link
mechanism the height of the cut can be adjusted. The unskilled labour can easily operate
this device.[1]
C. B. Mills: Today, new technology is bringing us improved mower versions.
Low emission gasoline engines with catalytic converters are being manufactured to help
reduce air pollution. Improved muffling devices are also being installed to reduce the
noise pollution. Battery powered mowers are also becoming practical. Although slightly
smaller with an average cutting swath of only 17-19", these new mowers will quietly
cutting lawns without the common cloud of blue smoke hanging in the air, for about an
hour per charge. Prices are comparable to a high-end gasoline powered mower.[2]
Davidge E D: "I’m planning on moving my entire fleet to propane. Not only is it
better for the environment, it also increases my productivity. I’m saving money on fuel,
and labor costs as well, since my crew isn’t spending time filling up at the pump. Propane
has no additives and is a clean burning system. I save on maintenance since there is no
carburetor or fuel filter to maintain.[3]
Edwin Beard Budding: Budding obtained the idea of the lawn mower after seeing
a machine in a local cloth mill which used a cutting cylinder mounted on a bench to trim
cloth to make a smooth finish after weaving. Budding realized that a similar concept
would enable the cutting of grass if the mechanism could be mounted in a wheeled frame
to make the blades rotate close to the lawn's surface.[4]
 Ms. Lanka Priyanka: In this paper they have fabricated grass cutting machine with
tempered blades are attached to this grass cutter. This grass cutter is manually operated as
well as automatic operated. The materials commonly used GI sheet, motor, wheel, Al
sheet, switch, wire, square pipe and insulating material.[6]
P.Bulski: Bulski identify the sound created by the machine is making noice
pollution. He research on sound created by the machine and giving the result how to
remove the sound while cutting the grass of lawn or ground. As looking to the petrol
engine it make air pollution to environment so from my recommendation it should be
implement on electric operated lawn mower.[9]
Praful P. Ulhe: In this paper they have prepared manually operated grass cutter
with spiral roller blades due to spiral blades increases the efficiency of cutting. For
adjusting the height reel cutter is component placed on grass cutter. This grass cutter used
to cut the grass uniformly and also it can cut the different types grasses.[10]
The first was produced by Ransomes in 1902. JP Engineering of Leicester,
founded after World War I, produced a range of very popular chain-driven mowers.
About this time, an operator could ride behind animals that pulled the large machines.
These were the first riding mowers. In the United States, gasoline-powered lawn mowers
were first manufactured in 1914 by Ideal Power mower.[11]
Thomas Green & Son: He introduced a mower called the Silens Messor (meaning
silent cutter), which used a chain drive to transmit power from the rear roller to the
cutting cylinder. These machines were lighter and quieter than the gear-driven machines
that preceded them, although they were slightly more expensive.The rise in popularity of
lawn sports helped prompt the spread of the invention. Lawn mowers became a more
efficient alternative to the scythe and domesticated grazing animals.[12]

2.2. Locomotive and manipulation

Locomotion includes very different concepts of motion including rolling, walking,

running, jumping, sliding (undulatory locomotion), crawling, climbing, swimming, and
flying. They are drastically different in terms of energy consumption, kinematics,
stability, and capabilities required by the robot that implements them.
 The way in which the individual parts of a robot can move with respect to each
other and the environment is called the kinematics of the robot. Kinematics are only
concerned with the position and speed (first derivative of position) of those parts, but not
its dynamics, which include acceleration (second derivative of position) and jerk (third
derivative of position).
The most dominant form of locomotion is rolling. Motors are almost always used
in conjunction with gears to reduce the speed and increase the torque that is the force that
the motor can exert to rotate an axis. In order to be able to measure the number of
revolutions and the axis’ position, motors are also often combined with rotary encoders.
Motors that combine an electric motor with a gear-box, encoder, and controller to
move toward desired position are known as servo motors, and are popular among
hobbyists. Another popular class of actuator, in particular for legged robots, are linear
actuators, that might exist in electric, pneumatic or hydraulic form.
Most industrial manipulators consist of a chain of rotary actuators that are
connected by links. Most industrial robots have six or more independently rotating axes.
Modern industrial manipulators have the ability to not only control the position of
each of its joints, but precisely control the torque and force at each individual joint,
making the arm arbitrary compliant, which is the inverse of stiffness in a mechanical
sense. For dexterous manipulation a robot does not only need an arm, but also a gripper
or hand.
2.3. Coordinate systems
There are two coordinate systems, one is fixed on the robotic grass cutter and will
be referred to as local coordinates or lowercase and with origin by the controlling of
Bluetooth modules. Since acceleration and angular velocity are controlled by the
application from smart phone. This is also the point on the robotic grass cutter in which
the controlled acceleration and angular velocity occurs. Therefore, this will be defined as
the origin of the local coordinate system. The local coordinate system is shown in Figure
2.1. The other coordinate system is fixed to the ground and will be referred to as global
coordinates or with capital letters. The rotational relation between the two systems are
presented in Figure 2.2 where the blue lines represent the local coordinate system and the
black lines the global system.
 z

Figure 2.1 side view and top view of grass cutter robot

2.4. Kinematic constraints

To distinguish an external force in the signals a general
understanding of the grass cutter robot valid movement is needed. When the
grass cutter robot is driving it can only move straight along the local
coordinate-axis x and turn by applying different currents to each wheel and
thus produce a non-zero yaw-rate.

(a) Rotation around z results in a yaw-angle also denoted

ψ

(b) Rotation around y results in a pitch-angle also denoted θ and Rotation around
 x results in a roll-angle also denoted φ

Figure 2.2 Rotation of the local coordinate system relative the global coordinate
system

ψ̇. Hence the robotic lawn mower is restricted on the angular velocities φ̇ and
θ̇ as well as on the linear velocities along y and z. Consequently the robotic lawn
mower should have two degrees of freedom and four non-holomonic constraints.
To compute the constraints the kinematics of the robotic lawn mower
must be sorted out. To simplify the kinematics computation we will first look at
the two- dimensional case as seen in Figure 2.4. As previously stated the robotic
lawn mower can control its rotation ψ˙ and its translation along x.
2.5. Motor for moving section

There are many dc motors such as brushless, with brush and so on. DC motor is
popular actuator in many robotic systems. Bomb Disposal Robot uses two 12V DC motor
for moving forward and reverse base moving.

DC motors are divided into three classes, as follows: series-wound motor, shunt-
wound motor and compound-wound motor.

The series-wound motor: In this type, the field is in series with the armature. This
type of DC motor is only used for direct coupling and other work where the load (or part
of the load) is permanently coupled to the motor. This will be seen from the speed torque
characteristic, which shows that on no load or light load the speed will be very high and
therefore dangerous.

Figure (2.3) Series-wound motor

 The shunt-wound motor: In this case the field is in parallel with the armature, as
shown in Figure (), and the shunt motor is the standard type of dc motor for ordinary
purposes. Its speed is nearly constant, falling off as the load increases due to resistance
drop and armature reaction.

Figure (2.4) Shunt-wound motor

The compound-wound motor: This is a combination of the above two types.

There is a field winding in series with the armature and a field winding in parallel with it
Figure ( ). The relative proportions of the shunt and series winding can be varied in order
to make the characteristics nearer those of the series motor or those of the shunt-wound
motor. The typical speed-torque curve is shown in the diagram. Compound-wound
motors are used for cranes and other heavy duty applications where an overload may
have to be carried and a heavy starting torque is required.

Figure (2.5) Compound-Wound Motor

2.6. Motor driver for moving part

The main component of motor driver circuit for moving part is L298 IC. L298 IC
is used for isolation with dc motor and controller board (Arduino). L298 IC is control
maximum two motor, that reliable for our circuit. The L298 is an integrated monolithic
circuit in a 15- lead Multi watt and PowerSO20 packages. It is a high voltage, high
current dual full bridge driver designed to accept standard TTL logic levels and drive
inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputs are
provided to enable or disable the device independently of the input signals. The emitters
of the lower transistors of each bridge are connected together and the corresponding
external terminal can be used for the connection of an external sensing resistor. An
additional supply input is provided so that the logic works at a lower voltage.

Figure (2.6) Pin out of L298 IC

Figure(2.7) L298 motor driver

 Figure (2.8) Internal block diagram of L298 IC

2.7. Bluetooth Technologies

Bluetooth is a wireless technology standard for exchanging data over short

distances (using short-wavelength UHF radio waves in the ISM band from 2.4 to
2.485 GHz) from fixed and mobile devices, and building personal area networks (PANs).
Invented by Dutch electrical engineer Jaap Haartsen, working for telecom vendor
Ericsson in 1994, it was originally conceived as a wireless alternative to RS-232 data
cables.

Bluetooth is managed by the Bluetooth Special Interest Group (SIG), which has
more than 30,000 member companies in the areas of telecommunication, computing,
networking, and consumer electronics. The IEEE standardized Bluetooth as IEEE
802.15.1, but no longer maintains the standard. The Bluetooth SIG oversees development
of the specification, manages the qualification program, and protects the trademarks. A
manufacturer must meet Bluetooth SIG standards to market it as a Bluetooth device. A
network of patents apply to the technology, which are licensed to individual qualifying
device

Bluetooth operates at frequencies between 2402 and 2480 MHz, or 2400 and
2483.5 MHz including guard bands 2 MHz wide at the bottom end and 3.5 MHz wide at
the top. This is in the globally unlicensed (but not unregulated) industrial, scientific and
medical (ISM) 2.4 GHz short-range radio frequency band. Bluetooth uses a radio
technology called frequency-hopping spread spectrum. Bluetooth divides transmitted data
into packets, and transmits each packet on one of 79 designated Bluetooth channels. Each
channel has a bandwidth of 1 MHz. It usually performs 800 hops per second, with
Adaptive Frequency-Hopping (AFH) enabled. Bluetooth Low Energy uses 2 MHz
spacing, which accommodates 40 channels.

Originally, Gaussian frequency-shift keying (GFSK) modulation was the only

modulation scheme available. Since the introduction of Bluetooth 2.0+EDR, π/4-DQPSK
(differential quadrature phase shift keying) and 8DPSK modulation may also be used
between compatible devices. Devices functioning with GFSK are said to be operating in
basic rate (BR) mode where an instantaneous bit rate of 1 Mbit/s is possible. The term
Enhanced Data Rate (EDR) is used to describe π/4-DPSK and 8DPSK schemes, each
giving 2 and 3 Mbit/s respectively. The combination of these (BR and EDR) modes in
Bluetooth radio technology is classified as a "BR/EDR radio".

Bluetooth is a packet-based protocol with a master/slave architecture. One master

may communicate with up to seven slaves in a piconet. All devices share the master's
clock. Packet exchange is based on the basic clock, defined by the master, which ticks at
312.5 µs intervals. Two clock ticks make up a slot of 625 µs, and two slots make up a slot
pair of 1250 µs. In the simple case of single-slot packets the master transmits in even
slots and receives in odd slots. The slave, conversely, receives in even slots and transmits
in odd slots. Packets may be 1, 3 or 5 slots long, but in all cases the master's transmission
begins in even slots and the slave's in odd slots.

The above is valid for "classic" BT. Bluetooth Low Energy, introduced in the 4.0
specification, uses the same spectrum but somewhat differently; see Bluetooth Low
Energy#Radio interface.
2.8.Pulse Width Modulation

Pulse-width modulation (PWM) is a modulation process or technique used in

most communication systems for encoding the amplitude of a signal right into a pulse
width or duration of another signal, usually a carrier signal, for transmission. Although
PWM is also used in communications, its main purpose is actually to control the power
that is supplied to various types of electrical devices, most especially to inertial loads
such as AC/DC motors.

One of the parameters of any square wave is duty cycle. Most square waves are
50%, this is the norm when don’t have to be symmetrical. The ON time can be varied
completely between signal being off to being fully on, 0% to 100%, and all ranges
between. Shown below are examples of a 10%, 50%, 90% duty cycle. While the
frequency is the same for each, this is not a requirement.

MOSFET IRF540 transistor uses for motor speed control with PWM.
Bomb disposal robot consist two 12V DC motor, which speed is needed to
control. Controlling PWM of base moving, L298 bright IC uses in receiving part
of the BDR.

Figure (2.5) Example of Pulse Width Modulation