Robotnik - Robot Design and Competition

ℹ️ Project Overview

A multi-tasking robot with self-navigation was designed. The power supply, control system, sensor navigation and mechanical subsystems was planned thoroughly prior to execution.

🤖 Robot Design

Tasks to cover:

1. Line following - continuous and dashed lines.
2. Grid solving.
3. Wall following (circular wall).
4. Ramp completion and climbing.
5. Obstacle avoiding.
6. Box picking.
7. Ball shooting.

Task Sheet - 📎Robot Design Task

Hardware Specs 🦾

• Dimensions - 220mm x 180mm

• Power Supply - 3 cell LiPo 11.1 V

• Components

1. Arduino Mega 2560

2. Aptinex Reykha S8 IR sensor array.

3. 12V JGA-25370 motors.

4. BTS 7960 motor drivers.

5. MG90 and MG995 servo motors.

6. VL53LOX TOF sensors.

7. MPU 6050

8. TCS3200 colour sensors.

9. DC-DC step down buck convertors.

10. OLED SPI display.

Software specs 💻

• Programming language - C++

For the final codebase check Software stack

• IDE - VS Code | Platform IO

• 3D Modelling

Navigation system

1. The primary task of navigation was line following, hence a Reykha S8 sensor IR array was used due to the high precision and accuracy of the TCRT5000 sensor. To minimize cross-talk a custom enclosure was designed.

2. To detect balls and boxes the VL53L0X TOF sensor was used. 6 such sensor mounted on a seperate mount were poised at the front, left and right of the robot for box detection and grid solving. Additional TOF sensor was poised at right back to assist in wall following.

3. Used the MPU6050 which had an accelerometer and gyroscope, so as to have proper control in traversing the ramp and to take sharp right turns.

Power distribution and power subsystem

The robot was powered by a 11.1V 3-cell Li-Po battery which when full charged provides 12V which was a choice made so as to support the motors selected. The power distribution is as follows:

Mechanisms

1. Gripper mechanism for ball picking.

The balls were mounted on a 10cm cylindrical mount and 6 such mounts were kept together in a circular fashion. Therefore a cylindrical arm was selected to pick the balls with adequate force.

2. Clamping and dragging mechanism for box picking.

Sinces boxes were of dimensions 5cm x 10cm x 10cm, it was decided to grab the box and drag along the way until being placed in the reserved ares of respective colour.

3. Ball shooting mechanism.

The task was to shoot the picked ball through a ring placed in a pre-determined location. Hence a design with two design BLDC motors was used.

Arena

Team and task distribution

1. Mechanical design and robot design - Chathuka Elaptha, Gimhan Adhikaram
2. Electrical design and assembly - Lakindu Gunasekara, Sithum Peiris
3. Software architecture and programming - Yohan Bandara

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@2025 Team MOSFET - Made with ❤️ at ENTC

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