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1. ITRODUCTIO:
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NITJ-INDIA “CPIE-2007” 22-24 March
2.1 Cup
Instead of allowing the air to be thrown
Fig. 3 Impeller of decreasing thickness
out from the side of the impeller directly,
the kinetic energy of the expelled air could
3. PARAPHERELIA
be harnessed to develop better adhesion
between the wall and the robot. For this
3.1 Stepper motors
purpose the cup that encloses the impeller
For the translation of the robot four motors
would be shaped in the form of a frustum
were to be used for all the wheels for a
which effects this action.
reliable drive. The motors were required to
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NITJ-INDIA “CPIE-2007” 22-24 March
have good torque to take the weight of the A computer generated model of the robot
robot, give variable speed according to the is shown in Fig. 4.
requirement of the surface and have low
weight and small size. Common DC
motors, due to the requirement of a gear
system for speed reduction for lower
speeds were found to be bulky. So instead
stepper motors were used as they easily
satisfied all the requirements mentioned
above.
3.2 Body
The body of the robot is of outmost
importance. It should be sufficiently rigid
to carry the load on the robot, withstand
the vibrations from the high speed motor Fig. 4 Computer generated model of
used for suction and not deform under VHST (bottom view)
load. At the same time it should not add to
the weight of the robot unnecessarily. So 4. COTROL SYSTEM
instead of a solid body a frame shaped
body would prove beneficial. It would also To control the four stepper motors, in
provide for better cooling of the stepper terms of orientation as well as speed
motors control microcontrollers are employed.
The advantage of using microcontrollers is
3.3 Wheels that, at a later stage, it would be easier to
The wheels are wide based plastic wheels. make the robot autonomous and make it
The wheel should be light yet sturdy. follow a fixed route if required. The basic
block diagram of the control system is
shown in Fig. 5.
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NITJ-INDIA “CPIE-2007” 22-24 March
The circuit consists of the following basic Table 1: Rotation of motors for various
parts: Motions of robot
Left Right
4.1 Rectifier Segment Segment
The input for the circuit is a 12V DC taken Forward Anti-clock Clock
from a rectifier. After further filtering, the
Backward Clock Anti-clock
microcontroller gets a voltage of 5 Volts
DC. The AC motor used for suction Right Anti-clock Anti-clock
however is powered independently from a Left Clock Clock
regular 230V AC power supply.
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NITJ-INDIA “CPIE-2007” 22-24 March
Now, Force = (m v2 )/ t
= ρQ v2
= ρQ2 / a
Consider an elemental area of radius ‘r’ Tests are first carried out with a 100 Watt
and thickness ‘dr’. motor-impeller arrangement with a self
Inlet diameter of impeller = 25 mm weight of ½ kg. The suction force obtained
Outlet diameter of impeller = 90mm by recirculation is noted as 1 kgf.
Applying energy equation to the flow Though an impeller with decreasing vane
without considering any loses: profile is known to have better
V2 / 2g + P / ρg = Va2 / 2g + Pa / ρg characteristics compared to a uniform
+ power head thickness impeller, it is found to be
unsuitable when used for the principle of
Where V = velocity of air in m/s recirculation.
Va = velocity of atmospheric air
=0 By studying the parameters involved and
P = pressure, -/m2 the geometry of the components the rate of
Pa = atmospheric pressure, -/m2 flow of air is calculated under suitable
assumptions. Further the rise in the
Power head = power / flow rate adhesive force is obtained. The formal
= 100 / Q calculations indicate a rise in the adhesion
Now, force by 70%.
F = ∫ PdA
As the suction force obtained from the
Now, dA = 2πr dr above is not as high as required for the
Also, V = Q / area robot a 600 Watt motor-impeller
= Q / 2πr × t arrangement is used. As the concept of
recirculation is not involved an impeller of
Where t = distance between the varying cross-section is used. The
impeller and wall recirculation of air is minimized by a
= 2 mm = 2 × 10-3m rubber cup which isolates the inlet and
outlet from the impeller. The suction force
Substituting and solving, we get obtained from the arrangement was
Q = 0.143 m3 /s measured to be 8 kgf which is enough to
carry the robot as well as any other small
equipment it needs to carry
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NITJ-INDIA “CPIE-2007” 22-24 March