stair climbing robot Full Project Download Free documentation and circuit diagram

stair climbing robot circuit diagram Full Project  and documentation Download Free
stair climbing robot circuit diagram Full Project  and documentation Download Free
stair climbing robot circuit diagram Full Project  and documentation Download Free
How to make a Robot in simple and easy way for symposium as well as final year project ? 

What is Stair Robot ? What is Stairbot ?

      StairBOT is a small robot for indoor environments. On even floor it drives like many other small robots with a differential-drive. In addition it can change its length with linear guides mechanism with a spindle-drive. By this mechanism it can – together with its omniwheels (with brakes) and a support – reliably climb up and down regular sized stairs. It was one of the objectives for the design to use as few actuators and sensors as possible.

CLICK HERE TO VIEW IEEE PAPER

OBJECTIVES :

Objectives

A robot, which

 1.      -  can reach every freely accessible place in a building;

 2.      -  is not longer than 50 cm;

 3.      -  needs as few actuators and sensors as possible;

 4.      -  can be controlled by simple controll-structures.

How To make Stair Robot or stairbot ?

What are the specification needed ?

Processors       2  BrainStem GP 1.0   (acroname, USA)

                        2  Brainstem Moto 1.0 (acroname, USA)

                        1  iPAQ

 

Sensors            1  CMUcam2

                        2  GP2D12   range finders  (front)

                        2  GP2D120 range finders (rear)

                        1  SRF08

                        2  micro switches (wheel-bumper)

                        2  micro switches  (linear guide bumper)

                        2  micro switches  (limiting switches for the spindle drive)

 

Power              11 SubC NiMH 3000Ah(13.2V) motor

                         5 SubC NiMH 3000Ah(6V) servos

                         5 SubC NiMH 3000Ah(6V) controllers

                         1 iPAQ LiIon-Battery

 

Drive Type          2 wheel differential drive (2 omniwheels with brakes as castors)

                         1 linear guides with leading screw

 

Actuators           2 DC-motors 6W, 84:1 geartrain, encoder   (differential drive)

                         1 DC-motor  11W, 4.8:1 geartrain, encoder (spindle drive)

                         1 servo (omniwheel-brake)

                         1 servo (support)

                         1 servo (sensor-head up and down)

Body                  fischertechnik construction kit parts, custom made aluminium, plastic and plywood parts

 

Seize                 depending on linear guides position

                          L x W x H:

                          short:  30cm x 36cm x 60cm

                          long:   65cm x 36cm x 27cm  

Weight               about 6kg  with batteries

CIRCUIT DIAGRAM  


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