Assignment 15 & 17:Mechanical & Machine Design

Task

1. Mechanical design week Assignment:- design a machine that includes mechanism+actuation+automation - build the mechanical parts and operate it manually - document the group project and your individual contribution
2. Machine design week Assignment: actuate and automate your machine - document the group project and your individual contribution

So,for this week we are planning to make a model of Cable Driven Robot called as Cablebot. The concept behind this machine is to automate the activities in agricultural field.This is inspired by Farmbot and Spidercam.

Before finalizing this idea we discussed on number of idea like to make just XY plotter or make 3D printer ,but after some research and need at our place we decided to make Agrobot because in Vigyan Ashram we have much developing Polyhouse and agricutural sector.

For this assignment we all 8 members from vigyan Ashram will work togethet as one team ,Manoj Sahukar leading the team ,he divided all in 2 team of four people as Control System and End effector team,For control System Me and jaydeep Sarode we are working whole electronic part.

We are going to use Master-slave type of communication for controlling whole system.We are using Arduino -uno as our master board and we made slave boards by own. We decided to divide the slave part in 4 design

by how to mechatronics.

After discussion we concluded that we need some locking mechanism for motor we have driver and motor connections like this

So me & Jaydeep designed the board in eagle ,the schematic for motor board is like this. We board contains Motor driver ,Attiny 44 basic hellow board components, for communicationSCk,SDA (i2c Connector),relay circuit.

The pcb for nema 17 looks like

We milled and soldered this board.

In first board we had problem of short terminal,then we redesign it .Few board is milled and soldered by Jaydeep and few boards are by me.

We copied same design for 4 motors.

Now, time to end Effector design

The board for end effector this is designed by Jaydeep,this board consist attiny 44 controller,optocoupler,and simple hello board component.

After milling and soldering we got,

Then 3rd design is very much simple for controlling the servo motor.In this board we used same design of hello board and added 2 connectors of 3 pin headers and 4 pin header for servo motor and communication respectively.

we got servo motor board

For proper look and presentation to avoid the mess we made shield for master arduino board This board simply conatins the connectors for motor board ,power supply and i2c communication.

Now all electronic control boards are ready,

This looks nice and look alike ...Yipeeeeeeee. Then Anand made one stand having space for each board on acrylic material on laser cutter.finally we connect all boards and provided 12 v SMPS supply to motor board and 5 V for arduino and other boards.

We adjust the resistance as by adjusting the potentiometer knob.and

we had some issues while soldering the relay so we checked connectivity and how much current is withdraw by circuit we required 6 Amp current for whole system so we are using SMPS of 12 V,10 amp.

Then we calculated the current consumption by circuit because one motor didn’t move properly,then we troubleshoot it and adjust the potentiometer of Driver A4988. And system works.

After electronic part I helped in assembly part

The BOM for all boards is

Summary

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