4. Concept Generation

4.1 Establishing Functions

The Poojari Bot is a portable, semi-automatic robot designed to assist users in performing basic pooja activities. It accepts user commands and performs selected activities through programmed actions.

Sl. No.	User Perspective	Designer Perspective
1	Easy operation	Simple control system
2	Perform pooja activities	Programmed actions
3	Move aarti plate	Rotational mechanism
4	Hold pooja materials	Gripper design
5	Portable structure	Lightweight chassis
6	Battery operation	Power management
7	Obstacle detection	Sensor integration
8	Start and stop control	Control programming
9	Reliable operation	Testing and calibration
10	Easy maintenance	Modular construction

4.2 Function Tree

                      POOJARI BOT
                           |
         +-----------------+-----------------+
         |                 |                 |
     User Control      Power System     Mechanical System
         |                 |                 |
      ESP32             Battery            Chassis
         |                 |                 |
   Process Commands   Power Management    Movement
         |                                   |
    Motor Control                   +---------+---------+
         |                          |                   |
  Sensor Feedback                Gripper          Aarti System
         |                          |                   |
 Obstacle Detection            Hold Items         Rotation

4.3 Morphological Chart with Related Pictures

Images are provided for representative components. Other alternatives can be selected based on the final design.

Sl. No.	Sub-function	Means 1	Means 2	Means 3	Means 4
1	User Input	Push Buttons	Mobile App	Remote Control	Touch Interface
2	Main Controller	ESP32	Arduino Uno	ESP8266	Raspberry Pi
3	Power Supply	Rechargeable Battery	Power Bank	Li-ion Pack	DC Adapter
4	Robot Movement	DC Motors	Servo Mechanism	Stepper Motor	Manual Movement
5	Obstacle Detection	Ultrasonic Sensor	IR Sensor	ToF Sensor	Limit Switch
6	Gripper Mechanism	Servo Gripper	Mechanical Claw	Linkage Gripper	Simple Clamp
7	Aarti Movement	Stepper Motor	Servo Motor	Geared DC Motor	Manual Rotation
8	Motor Control	H-Bridge Driver	Servo Controller	Stepper Driver	Integrated Driver
9	Chassis Material	Acrylic	Aluminium	3D-Printed Plastic	Lightweight Wood
10	Pooja Storage	Fixed Tray	Removable Tray	Compartments	Modular Holder
11	User Feedback	LED Indicator	Buzzer	LCD Display	Mobile Notification
12	Safety Control	Emergency Stop	Limit Switch	Obstacle Sensor	Software Stop

4.4 Generated Concepts

Concept 1: Basic Portable Poojari Bot

• ESP32 controller
• Push-button operation
• Rechargeable battery
• Portable wheeled chassis
• Servo-operated gripper
• Controlled aarti plate movement
• Ultrasonic obstacle detection

Concept 2: Remote-Controlled Poojari Bot

• ESP32 controller
• Mobile application or remote control
• Rechargeable battery
• Motor-driven movement
• Servo gripper
• Sensor-based obstacle detection
• LED status indication

Concept 3: Compact Semi-Automatic Poojari Bot

• ESP32 controller
• Push-button and programmed operation
• Lightweight chassis
• Rechargeable battery
• Controlled gripper movement
• Motor-driven aarti mechanism
• Emergency stop and sensor feedback

Concept 4: Modular Poojari Bot

• ESP32 controller
• Modular pooja-material holders
• Removable battery
• Replaceable gripper mechanism
• Motorized aarti plate
• Compact frame
• Expandable sensor system

4.5 Selected Concept

The selected concept is Concept 3: Compact Semi-Automatic Poojari Bot.

It is suitable for a student prototype because it combines portability, simple controls, rechargeable power, and programmed movement.

Sl. No.	Component	Selected Option
1	Controller	ESP32
2	User Input	Push Buttons
3	Power Supply	Rechargeable Battery
4	Movement	DC Motors with Wheels, if mobility is required
5	Obstacle Detection	Ultrasonic Sensor
6	Gripper	Servo Gripper
7	Aarti Mechanism	Controlled Motorized Rotation
8	Chassis	Lightweight Material
9	User Feedback	LED Indicator
10	Safety	Emergency Stop

4.6 Functional Operation

1. The user switches on the Poojari Bot.
2. The ESP32 initializes the controller and sensors.
3. The user provides a command through the control buttons.
4. The controller processes the command.
5. The appropriate motor or actuator performs the selected action.
6. Sensors monitor the surroundings where required.
7. The robot pauses or stops if a safety condition is detected.
8. The user can stop the operation using the stop control.

4.7 Safety Considerations

• Test the aarti mechanism using an unlit plate during initial development.
• Use a secure holder to prevent the plate from slipping.
• Include an accessible emergency stop or power cutoff.
• Protect electrical connections and use suitable battery protection.
• Guard moving parts wherever practical.
• Never leave a real flame operating unattended.