FABRICATION OF AN AUTOMATED GUIDED VEHICLE

Presented by:ARVIND.S.ASOORAJ.V.R

ANKITHA SHARMA ALKA MOHAN PHILIP

VISHNU MURALI MENON

MINI PROJECT REPORT

INTRODUCTION

» Automated industrial guided vehicle is a robot

» It˃ delivers the materials from the supply area to the technician

automatically.

˃ Is faster and more efficient.

˃ Can be accessed wirelessly, a proximity detector has been added which

causes the robot to stop as long as there is an obstacle in its way, thus

avoiding accidents.

Model Overview

» Automation in material handling system is the major

attractions of the project .

» Electrical and electronics systems are embedded in this unit to

achieve automation.

» This type is used mainly in mass production system to increase

the rate of production and reduce labour cost.

SYSTEMS

MECHANICAL Chassis & Steering

ELECTRICAL Motor Power

ELECTRONICS Control Unit

COMPUTER PROGRAM Path Planning

BLOCK DIAGRAM

BRIDGE RADIO TRANSMITTER

RECEIVER

MICRO CONTROLLER

MOTOR DRIVER MOTOR

CENTRAL COMPUTERPROGRAM

INSTRUCTION

SIGNAL

Language Used: Python Works under any OS Open source

COMPUTER PROGRAM

BRIDGE

Converts USB Protocol to UART ProtocolUART Protocol is standard for MicrocontrollerTRANSMITTER:

Electronic device that transmit a electronic signal

wirelessly RECIEVER

Electronic device that receives a wireless signal

MICROCONTROLLER:

Atmega 16 microcontroller is used.

Medium cost

High speed grades 0 - 16 MHz

High-performance

operating voltage 4.5V to 5.5V

UART(Universal Asynchronous Receiver/Transmitter)

Crystal oscillation speed:16 Mhz

Technical speciphication» Transmission frequency: 433Mhz (Free License)» Transmission speed:1200 baud» Maximum transmission range:3 m indoors 10m

outdoors.» Maximum voltage:5 V

ATmega16 Pin-out diagram.

MOTOR DRIVER: Controls motor using Logical signal from the

microcontroller

Controls motor speed using Pulse width modulation

Electronically commands the motor to go forward,

reverse, brake, and coast.

» Technical specification of l293D» Maximum logic voltage:5.5v» Minimum logical:4.5v» Maximum supply voltage:36v» Maximum supplied current: 600mA/channel» No of channel:2

MOTOR:Actuator that converts electrical signal to rotational

motionContrary to usual belief it is an open loop control, A

new technology of Back Emf interference is used to approximate a closed loop

Motor specification» Speed:200 rpm» Rated voltage:12v» No load current:60 mA» Full load current:500 mA» Stall current:580 mA» Back emf interference: range of 300 to 500 uA» Torque:2 kg cm

» Movement mechanism The robot consider to be in originIt can move through the lines with the box enclosed by the lines assumed to be machines.By using geometry path can be calculated by the central computer which is sent wirelessly to the AGV.

CHASIS DESIGN

Incorporate design for optimal use in a factory environment.

Support for both differential steering and Ackermann mechanism.

Model supports a static load of 12.6 kg of load and 6.3 kg of dynamic load and approximately 1.26 kg of impact load.

Material used Al alloy powder coated designed in catia with help of a friend.

Technical specification of chassis» breadth:105mm» Length:194mm» Hight:42mm» Wheel diameter:70mm» Wheel thickness:20mm» Wheel base:142mm

» The microcontroller receives the path from the computer after the following considerations˃ The path is not currently in use by other AGV˃ The path does not cross the lines being used by other AGV.˃ The path is under maintenance

Formulas used for straight line motion» For straight line motion between and ,» =» For straight line between , and ,» =» Formula for taking a turn» tanø = () » ø = )

» Formula for calculating distance

» Different Paths to go to destination

» r r r r r r r u u u u» Instead of having 6 rights at 4 ups, imagine we

start with 10 rights (r r r r r r r r r r).» Clearly this won't do: we need to change 4 of

those rights into ups. How many ways can we pick 4 rights to change?

» 10!/6!4!=210

STEERING MECHANISM

SPINNING STEERING Small radius turning

Large radius turning

Project Cost» Microprocessor Board: 1100Rs» Motor: 350Rs» Microprocessor: 210Rs» Chassis Outsource: 400» Transmitter-Reciever Pair: 500Rs» Motor Driver: 50Rs» Tyres: 70Rs» Bridge: 900Rs» Battery: Lead-Acid: 450Rs, LiPo: 900Rs

CONCLUSION» The AGV is an productivity increasing feature in a factory

that has the following advantages» 1. Speed of delivery» 2. Flexibility of path» 3. Adaptive to changes in factory layouts» 4. Central control» 5. Reduction in labour cost» 6. Reduction in running cost compared to conveyer

systems» 7. Ability to add sensors to detect the payload

conditions

DISADVANTAGES

» 1. Should be recharged periodically» 2. Will stop delivery when the AGV is forced off

the path.» 3. High Initial cost

THANK YOU