7.Virtual Implementation - M-Division-2020-2021-Even/Repo_09 GitHub Wiki

3D Models:

Leg Servo Link 1:

legservolink1

Leg Servo Link 2:

legservolink2

Leg Servo Link 3:

legservolink3

Base:

base

Top Platform:

top_platform

Battery:

asdfh

Servo Motor:

servo_motor

Ultra Sonic Sensor:

ultra_sonic_sensor

Arduino:

ardi

Ultrasonic Sensor Support:

uss

Bolt:

bolt1

Nut

nut1

Final 3D Model:

walkingbot

Animation:

animation

360 view:

360

CIRCUIT DIAGRAMS:

Obstacle detecting unit:

obstacle

Movement unit:

movement(https://github.com/M-Division-2020-2021-Even/Repo_09/raw/main/TEAM%209%20.png)

Complete circuit diagram:

m

FLOWCHARTS:

OBSTACLE DETECTING UNIT:

obstacle detecting

MOVEMENT UNIT:

movement unit

FINAL SYSTEM:

final system

Bill of Materials

Sl No. Part Name Material with which part is made Specification of the Parts Quantity Required Cost
01. Arduino arduino uno 1 1000/-
02. Servo Motor MG995 18 4000/-
03. Bread Board 170 points 1 50/-
04. Jumper Wire 20 cm 200/-
05. Ultrasonic sensor Measuring distance:2cm to 80cm 1 72/-
06. Acrylic sheet Tensile strength 10000 psi 1 300/-
07. Nuts Iron M3 150 150/-
08. Bolts Iron M3 150 150/-
09. Battery 12V 1 100/-
10. Battery Holder Plastic 1 100/-
Total 6122/-

Motor sizing and battery sizing:

Motor Sizing:

Mass,

  • Mass of leg servo link 1 = 90g

  • Mass of leg servo link 2 = 64g

  • Mass of leg servo link 3 = 95g

  • Mass of ultrasonic sensor= 6g

  • Mass of ultrasonic sensor support= 8g

  • Mass of the battery= 91.47g

  • Mass of the servo motor= 30g*18=540g

  • Mass of the top platform= 64g

  • Mass of the arduino uno= 23g

  • Mass of the buzzer= 0.949g

  • Total mass of the bot= 982.41g

Force,

  • F = m * g

  • F = 0.9824 * 9.8

  • F = 9.627 N

  • Force acting on 1 servo motor = 9.627/18=0.534N

Frictional force,

  • f = mg * μ

  • f = 0.534 * 0.4

  • f = 0.2136 N

Torque,

  • T=f*d

  • T = 0.2136* 0.07

  • T = 0.1495N-m

  • T = 1.524kg-cm

Factor of safety,

  • Final Torque = T * FOS

  • Final Torque = 1.524 * 1.5

  • Final Torque = 2.2875 Kg-cm

  • By comparing with table of specification for 2.28 Kg-cm stall Torque, We need Servo
    Of Specification Tower Pro MG-90S.

Battery Sizing:

Sl No. components Quantity voltage current Total current
01. Arduino 1 5V 80mA 80mA
02. Servo motor 18 5V 1400mA 25200mA
03. Ultrasonic sensor 1 5V 40mA 40mA
04. Buzzer 1 5V 30mA 30mA

Total current drawn =80+25200+40+30=25350mA

F.O.S=1.2

25350*1.2=30420A

we have used 18 servo motor, aurdino, ultrasonic sensor, Buzzer the adapter used is 12V.