"Helferlein"

Procedure

There are two missions on this project: On the one hand one roboter has to get and deliver the bricks and on the other hand the second roboter has to put them together and place the tower on the ground. Our roboter is responsible for the composition.

Technical overview

  • Specifications
  • System of the prehension
  • Lifting system
  • Actuators
  • Sensors
Dimensions160x160x160mm
Speed vmax1 m/s
CommunicationWLan
Materialaluminium, 3D print, sheet steel, acrylic glass
Capacitance1300mAh
Battery lifetime20 minutes

The grab consists of 3D print. It builds the complete tower on the mounting plate that is installed in the roboter. The gripper arms (red) are powered by a servomotor (blue). These arms are able to move vertically inward and outward for 5mm. Two clamps (black) are responsible for the fine adjustment of the complete grab. The lift and lowering are ensured by the lifting system.

The lifting system comprises two guide rods (1) made of brass, a rack (2) made of plastic and a mount (3). The complete lifting system is adjustable fixed by a construction of three metal sheets (4). The mount has many tasks. It is responsible for the mounting, adjustment, sliding guide and lifting and lowering. A DC gear motor that is sponsored by Faulhaber makes it possible to drive the roboter

Three DC motors are used for the locomotion and the lifting system of the roboter. The value of the input voltage is 12V. To control them, they are connected to the motor driver DRV8841. For the lifting system, there is also a limit switch that is used for the lower position feedback of the rack. In addition, there are two servo motors for the control of the base plate and the gripper. These two motors do not need a motor driver. They are connected directly to the microcontroller MPC555. 

ToF-sensor and IR-sensor are the two types that were used. The IR-sensor is responsible for the detection of the building block. Only a ToF-sensor and a limit switch have the task to orient the roboter. The reason is because the roboter just drives forward and backwards. The ToF-sensor measures the distance to the lighthouse modul and the limit switch is served as an end stop to detect the exact end position. 

Development