CHAPTER 1

INTRODUCTION

1.1. Introduction to System

Robotics and robots have become an integral part of today society, being used
for both trivial tasks as well as more complex tasks. Robots like machine perform
different tough jobs easily but the advancement is that they can do it by their own
intelligence. Once programmed robots can perform required tasks repeatedly in
exactly the same way. Robotic systems are classified Manipulation Robotic system,
Mobile robotic system and Data acquisition and control robotic system. Robots are
used in industry to perform repetitive tasks at much higher speed and precision than
humans can ever do, increasing productivity and decreasing cost. But the usefulness
of robots is not limited to industry; robots are used to assist in manufacturing,
production, construction, domestic, aerospace station, science operation, surgery, in
warfare as Unmanned Aerial Vehicles (UAVs), bomb disposal robots, Airborne
military robots, IRobots and Unmanned Ground combat vehicles. Bomb disposal
Robot include ANDROS (a series remote control military robots), DRDO Daksh
(Defence Research and Development Organization), MarkV-A1 and Panama remote
controlled vehicle.
Bomb disposal robot uses 7 DOF system of basic robotic arm design. DOF
means degree of freedom that can operate robotic arm as well as the movement and
motion of the human’s hand. Radio Frequency transmission and receiving system
needs to control the action of robotic arm and moving parts from the control center
that locate away from the operation area. Open-loop control system uses the process
of the bomb disposal robot. Pulse Width Modulation system (PWM) is suitable to
control servo motor driving and dc motor driving. Force and torque calculations (To
calculate weight) are used inverse kinematic calculation, kinematic and trigonometry
relation.
Bomb disposal robot is dispatch from the control operator of the main station
to the working area that has enemies and bombs by using joystick. If robot detected
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bomb, robotic arm active to diffuse or disposal bomb. At disposal process, operator
of the main station control robotic arm using another joystick. Gripper can make to
cut the wire and to lift bombs away to the dangerous zones. The block diagram of the
transmitter section is shown in Figure 1.1. The block diagram of the receiver section
is shown in Figure 1.2.

12V to 5V
12V battery
regulator

Control for
base

Control for joint

NRF 24L01
Control for
shoulder
Arduino
Mega
Control for
elbow

Control for wisp

Control for
gripper

Control for steering Control for base

moving

Figure 1.1. Block Diagram of Bomb Disposal System (Transmitter Section)

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12V to 5 V
Battery 12V
regulator

Joint servo
NRF 24L01

Shoulder servo

Joint servo
Arduino Mega
Wisp servo

Gripper servo

Base servo

Moving motor 1 Moving motor 2

Figure 1.2. Block Diagram of Bomb Disposal System (Receiver Section)

1.2. Aim and Objectives

The aim of this thesis is to design and construct of wireless controlled bomb
disposal robots based on Arduino. The objectives of the thesis are the following
statements.
 To study the construction and controlling of robotic arm
 To construct moving part depend on the motion theories
 To study the construction and controlling of base moving part
 To learn operation of Radio Frequency Transceiver Module
 To study the microcontroller based semi-automatic controlling system
 To get the knowledge of microcontroller concepts based on Arduino board
 To study C++ programming language for controlling microcontroller devices
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1.3. Scope of Thesis

The scopes of the thesis are the following facts.
 To find and remove the bomb of the enemy’s sites
 To control the robotic arm and base moving by using wireless controller
 To send bomb disposal robot to the defined target
 To easy going smooth surface or rough surface
 To climb and 45 degree smooth slope or rough slope

1.4. Implementation Program

The implementation programs of the thesis are the following:
 Studying of the robotic arm design configuration
 Studying of background theories, literature survey and required circuits and
programming language form various reference books, reference papers and
internet websites
 Studying of various position control methods of robotic arm and study types of
DC motors and their driving theory
 Studying how to drive the servo motors
 Studying of various transmission and receiving methods
 Studying of radio frequency transmission and receiving system
 Designing and construction of the robot arm and its fabrication circuits
 Application program(software)
 Test and results
 Discussion and conclusion

1.5. Outlines of Thesis

There are five chapters in this thesis. In chapter one, introduction of bomb
disposal robot system, aim and objectives and overview of the thesis are also
expressed. Chapter two describes the components of that are used in the system are
mentioned and how they work are discussed. Chapter three includes system overview,
circuit operation, pin connection, design calculation are defined. In chapter four, tests
and results of bomb disposal robot is discussed. Chapter five describes the conclusion
and the discussion and further extension of bomb disposal robot.