Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Design & Fabrication of Remote-Controlled

Robotic Trolley
Vaibhav Phule1 Sneha Kanampalliwar 2 Apeksha Mahajan3 Swarup Birelliwar 4 Ankit Kamble5
(1Professor 2,3,4,5BE. Student)
1,2,3,4,5
Department of Mechanical Engineering
1,2,3,4,5
D. Y . Patil College of Engineering, Akurdi, Pune

Abstract:- This mission is aimed at designing a Remote- Arduino. We based our design of trolley on this basis. The
Controlled Robotic Trolley, which could characteristic input is given through supply software and the trolley
as transferring unit in isolated ward. The reason of this operates accordingly, the trolley completes the task and
action is solely based on past two years We all have come back to the original function after carrying necessities.
been affected due covid pandemic that modified the lives
throughout the globe. In this pandemic health Automated surgical trolley was also proposed. The
practitioner, nurses, fitness-care employees and medical proposed system is implemented for automatic medical
group of workers and many others. Labored as front- surgical trolleymovement using Arduino Uno R3.
liners. In covid isolation ward even with social distancing
observed, food water and medicinal drug supply is In our project we have designed and fabricated the
energetic. These offerings are being provided through skeleton of project, material used for this is Iron rod. Due to
our medical staffs which at once placed them into danger its ductile nature, easy availability and cheap cost we have
because of their direct contact with covid advantageous selected this material. As for shelves, stainless steel plates is
patient. And we're keen to reduce this danger by way of used-which will be bolted to the skeleton of trolley.
permitting our faraway-managed trolley to roam in the Mecanum wheels for motion is run with the help of Arduino
Mega. The infrared sensors also act as crucial element, it is
ones wards and deliver these primary services. We
basically a device which emits the light in order to sense
targeted on designing and fabricating a movable trolley
which can be controlled through Remote manipulate. objects in surroundings. For real time viewing, Esp32
This initiative was taken in the course of lockdown camera module kit will help to see view in front of trolley in
because of covid. To avoid contactless service. It can be our mobile devices.
used to hold medication, water, and meals and so forth. II. LITERATURE REVIEW
This faraway operation is programmed with the assist of
Embedded C. An Arduino Mega is used for motion Follow Me includes collection of technology which
control and wheels used is Mecanum Wheels for motion encompass computerized human guided travelling with use
in each viable direction. For actual time viewing, a of an Arduino Mega, gadgets monitoring and billing with
camera is used. We can get admission to the actual view the help of a Bar code reader and an android based totally
in front of trolley. For self-sanitization a sanitizer doling tablet with large User Interface (UI) strategies. Furthermore,
out unit is connected. Follow Me consists of computerized parking to its slot and
automated charging whilst the trolley is parked in the slot.
Key words: - Trolley, Arduino Mega, Self-Sanitization, The research group has provided an accurate, person great
Mecanum wheel, Self-Sanitization. smart purchasing trolley to make clients purchasing
I. INTRODUCTION existence extra handy and less difficult.

The function of hospital trolley is distributed in various RFID Tags and RFID Reader: The Smart Trolley may
ways like stretcher and other medical equipment carrying be utilized by the ones clients who are having the club card.
trolley, some are pushed physically in general ward that In widespread, RFID Tag is attaching with club card. RFID
carries food supplements and medicine . For past two years Reader is connected to the trolley. Whenever a patron put
a new pandemic has hit us, making physical contact RFID Tag close to RFID Reader, RFID Reader detects the
dangerous. Covid-19 is spreading due to increase in contact RFID Tag and trolley act as Smart Trolley. All this method
with one infected person to other non-infected one. It can going to works the use of radio frequency. [1]
pursue highest rate in hospitals because of more access to A smart trolley (ST) is a strength trolley (PT) to which
covid-positive patients. More threat is to our health care computer systems, sensors(Proximity Inductive), and
workers who has been working Non-stop for previous assistive technology (Arduino Controller, Bluetooth) are
strenuous year. attached. The paper ambitions to offer and complete today's
Smart trolleys are being used in various fields with review of ST studies traits. they count on that the
different methodologies and working principle aiming the information collected on this examine will beautify attention
objective. As for a RFID (Radio frequency identification) of the popularity of ST technology. The proposed machine
supermarket trolley. The program is loaded into the Arduino is designed to offer higher provider for the patients,
Uno, and it is interfaced with smart phone using Bluetooth children, and elderly humans. It includes a trolley supplied
module Inductive proximity sensor are interfaced with with DC Geared Motors which is managed via Android App

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Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
or Voice Command. The trolley is dispatched and received is sent and acquired in which it is utilized by imparting the
wherein its miles utilized by supplying the needy by needy by way of medicine, meals and different components.
remedy, meals, and different components. This makes the This makes the elderly one or the needy in part, nevertheless
aged one or the needy partially independent, nonetheless there should be someone in vicinity for the supplies. [5]
there must be a person to location the supplies on the trolley.
[2] A. Objectives:
Trolley which will minimize the risk of spreading virus
The maneuverability of the wheelchair will growth and outside the Covid Isolation ward as it will provide services
then make the lifestyles of the customers simpler. The traits like food and medicines to covid positive patients. With
of this mecanum wheel have been chosen primarily based completion of this trolley it will also reduce usage of PPE
within the traits of the wheelchair. Therefore, the most (personal protective equipment) kit in large number as
velocity of the wheelchair changed into constant in 5 Km/h, every time staff has to enter, they would need to wear it in
and the burden capacity, a person of 80 kilograms. Based on the ward to treat.
that, the radius R of the mecanum wheel must be 114.61
millimeters. Four mecanum wheels and the frame have been B. Scope Of Study:
connected with revolute joints and the driving torque was This study is designed whilst Looking at ongoing
carried out to each revolute joint. [3] situations, as there is fear of third wave to strike the
country in couple months, for that and also to reduce the risk
The gift study goals to expand a conventional hand and workload on ‘frontline workers’ operating at mediocre
sanitizer device. Sensor‑based computerized hand sanitizer and basic level Around 748 Doctors died in First wave of
dispenser is an automatic system which dispenses a managed covid-19 which came as result of treating the infected
amount of cleaning soap answer with out even touching to patients and providing services to them. This projects acts as
the knob, consequently decreasing the opportunity of a baby step in saving these lives by keeping our frontline
spreading of infection and creates extra sterile sanitization. workers as safe as possible
Dispensers will best distribute a set quantity of soap in line
with motion activation. A programmed amount of sanitizer III. METHODOLOGY
to be disbursed may be set to a fairly successful amount,
wherein waste will be minimal. The average price of A smart trolley is in current use considering the
automated hand sanitizer to be had in the marketplace could industry however a smart -medical trolley aiming at delivery
be very excessive, and it's far tough to reach out to negative of essential supplements isn't invented as such, to fill this
humans. Hence, our important goal is to develop gap we're operating on our mission.
contemporary approach of automated sanitization Automated surgical trolley became additionally
economically and ensuring the availability to the not proposed. The proposed machine is applied for
unusual people. Hence, being in fitness‑care profession, computerized medical surgical trolley motion using Arduino
we've got formulated natural hand sanitizer and developed Uno R3. The invention presents an automated clinical
sensor‑primarily based automatic hand sanitization surgical trolley which comprises computerized steering, a
technique [4] wi-fi controller, an impediment avoiding detection device, a
smart trolley (ST) is a power trolley (PT) to which touch display controller via smart telephone, an IP digicam,
computer systems, sensors(Proximity Inductive), and a trolley, an incorporated electricity delivers and a
assistive generation (Arduino Controller, Bluetooth) are processor. Medical equipment is loaded in the trolley, the
attached. This paper targets to offer a whole ultra-modern wireless faraway drives the trolley to transport forwards and
overview of ST studies developments. We expect that the backwards.
facts gathered on this look at will beautify recognition of the Indian Army EME as part of anti-COVID measures
repute of ST generation. The proposed system is designed to has innovated a remotely operated car that may supply
offer higher carrier for the sufferers, kids and aged people. It essentials to personnel from a hundred feet as a part of social
includes a trolley provided with DC Geared Motors that's distancing.
managed via Android App or Voice Command. The trolley

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Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig.1: Methodology

A. Design of machine:-  These wheels have ability of lateral movement, it can

As for design parameters move sideways.
 Height of trolley based upon the height of general  Providing supplements between beds become easy
hospital beds. These have heights around 60-70 cm due to these wheels.
above ground.  A battery presumably 12/24-volt lithium ion battery
 One can easily grab things from our trolley or in 3600 mAh –rechargeable to increase efficiency.
other words, the supplements are on one hand  -We are using proximity sensor /ultrasonic sensor to
distancefor easy access. minimize the condition of collision.
 For motion we are using Mecanum of size 127mm
 Maximum weight carried by wheel = 16kg


B. Design on CATIAV5 :-

Fig. 2: Design of body

 Total Height = 110 cm
 Total length, l = 66 cm
 Total width, w = 46 cm
 Total dead weight = 12 kg

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Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
• PLATE:-

Fig. 3: Design of Plate

• Length = 60
• Width = 40
• Thickness = 3 mm

C. Stepper Motor rotate, one step at a time. By computer controlled stepping

Stepper motors are DC motors that move in discrete we will achieve very precise positioning and/or speed
steps. Having multiple coils, organized in groups called control.
"phases". each phase energize in sequence, the motor will

Fig. 4: Stepper motor

D. The Arduino Mega 2560-R3, MHz resonator, USB connection, a power jack, and in-
Is the successor to the Arduino Mega, it is a circuit system programming (ICSP) header, and a reset
microcontroller board based on a ATmega2560 AVR button.
microcontroller. It is having 70 digital input /output pins . 16

Fig. 5: Arduino mega

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Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
E. Motor Driver (DRV8825) operate on bipolar stepper motors in full, 1/2, 1/4, 1/8, 1/16
The DRV8825 is a Motor Driver with two H-bridge and 1/32-step modes. In Robotics, ATMs and Gaming
drivers and a micro-stepping indexer. The driver has a Machines This driver module is generally used.
maximum output capacity of 45 V and ± 2.5 A. It can

.
Fig. 6: Motor Driver

F. Transceiver Module(NRF24L01)
The NRF24L01 is a wireless Transceiver Module , each H. Mecanum Wheels
module can both send as well as receive data. They operate A Mecanum wheel has rollers attached to its
with frequency of 2.4GHz, falling under the ISM band and circumference. These rollers are positioned in way
hence it is legal to use in almost all countriesfor engineering diagonally or at 45-degree angle to the axis of rotation of
applications. the wheel. Making the wheel exert force in diagonal
direction when moving forward or backward. Hence by
G. Ultrasonic Sensor (HC-SR04) rotating the wheels in certain pattern, we utilize these
The HC-SR04 ultrasonic sensor uses sonar to determine diagonal forcesand thus the robot can move in any direction.
the distance to an object.

Fig.7: Mecanum wheel

Li-Ion Battery(12V 5000mah Rechargeable)

I. Automatic-Sanitizer-Dispenser
24V Power supply, 24V DC Pump, Water supply, Mist Nozzle, Red LED, Indicator LED.

Fig. 8: Connection diagram for ASD.

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Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
J. Camera-module
ESP32 Cam Board with OV-2460 camera, FTDI Module, Jumper wires, USB Cables.

Fig. 9: Connection diagram for camera module

K. RC-Module

Fig. 10: Connection diagram for RC module

L. Wheels for motion- Mecanum Wheels: M. Automatic Sanitizer Dispenser:
Mecanum wheel is that they are made up of two major Automatic hand sanitizer where sanitizer liquid can come
parts: Hub and the roller. The hub is the main body bracket out automatically. the circuit includes an ultrasonic sensor
of the consisting entire wheel, and the roller is a drum SC-04. The sensor sense the proximity of hands under the
mounted on the hub. The hub axle of the omni- directional machine. The machine will be designed for wall mount at a
wheel is perpendicular to the roller shaft, the hub axle of the height of 4 feet such that anyone can reach to get sanitizer
Mecanum wheel is at an angle of 45° to roller shaft. this dispense. The sensor sends signal to the microcontroller and
angle can be of any value, different wheels can be made up controller takes decision to actuate the pump and valve
according to the different angles. simultaneously so as to dispense the liquid sanitizer through
a mist nozzle .

N. Calculations:-
 Considering Live Mass, m = 18 kg
Weight, w = 18
××
9.81 = 166.77 N

Wheels used for motion is Mecanum Wheels

Diameter of wheels, d = 12.7 cm.
Radius, r= 6.35 cm

Coefficient Of friction, μ = 0.6 -- for ideal

tilesForce, F= 0.6
××
166.77= 100.062 N

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Volume 7, Issue 2, February – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Torque, Ʈ= 100.062×0.635= 63.54 Nm
Considering maximum speed 1.4 m/s .i.e. 5 km/h

Speed, V = radius x angular velocity

1.4 = 0.635 x 2 x 3.14 x N

N = 21.42 rpm
Power developed by motor= Torque x
2πN602πN60

= 63.54 x
2x3.14x 21.42/602x3.14x 21.42/60
= 142.45 W or J/s
For four motors connected = 4 x 142.45 = 569.8 W

O. Working Of ESP32 Cam Module REFERENCE

The ESP32-CAM is a full-featured microcontroller that
also has an incorporated video digicam and microSD card [1.] Thant ML, Mon KM, Tun KT. Automatic hand -dryer.
socket The ESP32-CAM board has no USB port, so you International Journal of Creative and Innovative
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programs. Instead, we need to upload an outside FTDI [2.] Hanwate A, Thakare P., “Smart Trolley using RFID,”
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Engineering, pp. 2394-8299, 2015
P. Working of Hand Sanitizer dispenser [3.] Carlos erlan olival lima shigenori sano., “Design and
After turning on the ultrasonic sensor, the sensor begins analysis of a new type of mecanum wheel ,”
searching at if there are any gadgets around its location. International Journal of Research in Science and
Whatever the case, the sensor will ship the data back to the Engineering, 2015
Arduino board. In case there are not any gadgets within the [4.] Akshay Sharma, “Automatic Sanitizer Dispensing
location, the Arduino board will no longer give out any Machine ,” . International Journal of Engineering
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about how away that object is located. The point is to decide [5.] L.Subhashree, D.Sruthiraj, S.Vinitha,Joeljosephson,”
a threshold distance below which the Arduino will deliver A survey of trolley/wheelchair based smart system for
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IV. CONCLUSION [7.] Ferdoush S and Li X., “Wireless Sensor Network
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Isolation ward. This in addition helps our medical experts to Computer Science, vol. 34, pp. 103-10, Jan 2014.
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turn has become crucial of human lives in recent times. For based Technique,” IJCA Proceedings on National
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This concludes a working version of Robotic Trolley.

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