Continuous Assessment Cover Sheet

Faculty of Engineering

Module Details

Module Code ME2650 Module Title MDP II

Program: SLIIT Course: BSc.

Stream: Mechatronics

Assessment details

Title Lab 02 Group assignment YES

If yes, Group No.

Lecturer/ Instructor Mr. Bhanuka Dayawansa Date of Performance

Due date Date submitted 23/07/2021

Student statement and signature

By this declaration, I/we confirm my/our understanding and acceptance that the work reported in this report is my/our own work. I/we also understand the
consequences of engaging in plagiarism or copying others work without proper citation. Any material used in this work (whether from published sources, the
internet or elsewhere) have been fully acknowledged and referenced and are without fabrication or falsification of data.
[Copying or plagiarism will result in a “0” mark for the continuous assessment and “F” for the module after an investigation on academic misconduct;
All academic misconduct is considered seriously and defined as dishonest and in direct opposition to the values of a learning community. Misconduct may
result in penalties from failure to exclusion from the campus.
Further help and guidance on how to avoid academic misconduct can be obtained from your academic advisor/tutor]

By this declaration, I/we confirm my understanding and acceptance that-

• I/we have adhered to relevant ethical guidelines and procedures in the completion of the assignment.
• I/we have not allowed another student to have access to or copy from this work.
• This work has not been submitted previously.
[The Institute may request an electronic copy of this work for submission to the Plagiarism detection facility (TURNITIN). You must make sure that an
electronic copy of your work is available in these circumstances]

Details of the student/s submitting the assignment Signature

ID Number Name (As per the institute records)
EN20402884 Lokuliyana L.W.D.T. (Leader)
EN20401412 Perera P.N.D.
EN20392130 Seram S.D.N.R.

OFFICE USE ONLY

Receiving Officer Specific comments about the work (including overall comments and guidelines
(Seal, signature, date) for improvement)

Tutor: Signature: Date:

Marks: [All marks are subject to external moderation and approval of board of examinations]
 SRI LANKA INSTITUTE OF
INFORMATION TECHNOLOGY
Faculty of Engineering

Mechatronics Design Project II

ME2650

B.Sc. Mechanical and Mechatronic Engineering

Lab 02
Instructor's Name: Mr. Bhanuka Dayawansa

Names and ID: EN20402884 – Lokuliyana L.W.D.T.

EN20401412 – Perera P.N.D.

EN20392130 – Seram S.D.N.R.

 Design of the robot.

In our maze smallest unit is 50cmx50cm square.

According to the robot, robot’s dimension: 15cm x 15cm. (with front IR array it is 15cm x 20 cm)

Here we have two suggestions to robot to follow the walls. We are using 5 Ultrasonic Sensors.

5 cm IR Sensor Array

20 cm

15 cm Robot Ultrasonic
Chassis
Sensors

15 cm

Dimensions of the robot

• Length: 15 cm
• Width: 15 cm
• Height: 15 cm
 Final CAD Design for the Robot

Bottom View

Top View
Front View

Back View
Selected list of components

Components Quantity
• Arduino mega 2560 1
• Pololu QTR-8A Reflectance IR 1
Sensor Array
• Ultrasonic sensor 5
• LCD display 1
• I2C module 1
• L293d motor driver shield 1
• XL4015 buck converter 1
• 65mm wheels 4
• 5V dc gear motors 4
• Battery (3 cell 11.1V, 2200mAh) 1
• DC jack 1
• Custom made chassis (Acrylic Board) 1
• On/off switches 4
• Push button switch 1
• Bread board 1
• Nuts and bolts. -
• LEDs (white, orange, blue) -
• Jumper wires -
• Glue -

Drive mechanism

Drive Mechanism
In this robot, four-wheel drive system is used as the drive mechanism. When comparing the
four-wheel drive system with the differential drive system there are more plus points for four-
wheel drive system than the differential drive system.
• When considering about the weight distribution of the robot, in four-wheel drive system
the whole weight is distributed among four wheels. But in the two-wheel drive system
there may be some unbalances in the robot. Therefore, the stability of the four-wheel
drive mechanism is higher the two-wheel drive system.
• When considering the smoothness of the movements of the robot, the four-wheel drive
system can move smoothly compared to the two-wheel drive system. In two-wheel
drive systems, large oscillations can be observed because of the caster wheel.
• The four-wheel drive system is capable of taking turns very smoothly and without any
undesirable movements than the two-wheel drive system.
To control the 4-wheel drive system we have to use a motor driver unit which controls the
voltages and the directions. So, our team hope to use L293D motor shield except using L298N,
to control the four 5v dc gear motors.
Reasons to choose L293D shield except L298N driver
• First thing is L293D shield is very easy to use. It has pins to connect with Arduino
board.
• L293D has Arduino library so when coding the robot, we can use that library as well.
• It can control 4 5v dc gear motors separately, 2 steppers and 2 servo motors.
• And this shield has so many output lines such as grounds, 5v outputs, analog pins and
so on.
• For the input voltage L293D can work with 4.5V-36V
Disadvantages we saw in using L298N motor driver are,
• It needs at least 11V to turn on.
• It can control separately 2 dc motors only. So, as we are using 4-wheel drive mechanism
we must connect two motors parallelly. For example, front left motor and rear left motor
parallelly together and front right motor and rear right motor parallelly together.
• No extra power or data outputs.
• We must develop a code. There are not any available libraries for this module

Sensor Type

We are going to Use 5 Ultrasonic sensors for the Robot

• After Testing, Ultrasonic Sensor and Sharp IR sensor we clarified that Sharp IR
sensor range is in between 10 cm to 80 cm. That can be an issue when converting
distance to maze 50cm*50cm block measurements incase running distance is higher
than 80cm. So, we are using Ultrasonic sensors to detect distance.
• The Ultrasonic Sensor Accuracy is 3mm, which is sufficient for the robot given its
dimensions.
• Ultrasonic sensors can detect distance in any lighting condition or on any surface
without difficulty.
• The Ultrasonic sensor is easy to use and reliable than Sharp IR sensor.
• We're going to employ 5 sensors in our CAD design. So, at the moment, the price of
an Ultrasonic sensor is LKR 200, and the price of a Sharp IR sensor is LKR 1150, and
it is not always available when a sensor fails. We chose Ultrasonic Sensors after
weighing the cost versus sensor work ratio.