MELBOURNE POLYTECHNIC VIET NAM

INTERNSHIP REPORT

Topic
Design a robot arm

Instructor : Nguyen Hoai Minh Luan

Student : Trần Lê Khoa
Student Code : MS00141
Group :5

TPHCM - 2024
Contents
I. Introduction......................................................................................................................................3
1.1 Project objectives........................................................................................................................3
1.2 Meaning of the project...............................................................................................................3
1.3 Participating members...............................................................................................................3
II. Define...............................................................................................................................................3
2.1 What is a line detector?..............................................................................................................3
2.2 Operating principles...................................................................................................................4
III. Analyze system requirements........................................................................................................4
3.1 Hardware....................................................................................................................................4
3.2 Programming software...............................................................................................................4
3.3 System requirements..................................................................................................................5
3.4 Force analysis..............................................................................................................................5
3.4.1 Vector Analysis.....................................................................................................................5
3.4.2 Torque and results...............................................................................................................6
3.4.3. State of balance and stability.............................................................................................6
IV. Implementation process.................................................................................................................7
4.1 Implement the plan.....................................................................................................................7
4.2 Programming code.....................................................................................................................8
4.4 Check and adjust........................................................................................................................9
V. Calculations related to force and torque motion............................................................................9
5.1 Linear equations.......................................................................................................................10
5.2 Quadratic equation of motion..................................................................................................10
5.3 Exponential and logarithmic functions in system analysis....................................................10
5.4 Application of complex numbers in AC circuit analysis........................................................10
VI. Numerical simulation...................................................................................................................11
VII. Optimize efficiency.....................................................................................................................11
7.1 Robot system model using probability theory........................................................................11
7.2 Strong design recommendations..............................................................................................12
7.3 Optimize energy consumption.................................................................................................12
7.4 Matrix........................................................................................................................................12
VIII. Document...................................................................................................................................13
8.1 Wiring diagram........................................................................................................................13
8.2 Video of the car running...........................................................................................................13
8.3 Learner practice.......................................................................................................................13
8.4 Cost............................................................................................................................................13
I. Introduction
1.1 Project objectives
- The project assembles an autonomous vehicle that performs (at a minimum)
tasks such as avoiding obstacles, transporting objects, and finding directions.
The goal is to focus on optimizing the important criteria included
• High precision in movement
• Low energy consumption
• Reliable component durability for long-term use.
- This system is aimed at applications in industry to support material handling,
as well as in the home to improve convenience and support daily tasks
1.2 Meaning of the project
- The project contributes to promoting automation, improving efficiency in
industry and improving quality of life
- Promote research and development of smart technology such as AI, sensors
and IoT
- Create a foundation for advanced robotics applications, aiming for
sustainability and long-term efficiency.
1.3 Participating members
- Tran Le Khoa - Team leader - In charge of assembling hardware and wiring the
board
- Nguyen Trong Tan – Member – Programming and editing code
- Nguyen Minh Tri - Member - In charge of purchasing materials and cost
management
Code used: C++

II. Define
2.1 What is a line detector?
- A line tracer (also known as a line robot) is a type of autonomous robot,
designed to move along a path marked on a surface, usually a colored line (such
as white or black ) on the surface. background has a contrasting color
It can also be combined with many other electronic devices and in this project,
we will add the HC-SR04 ultrasonic sensor to the line detector.
2.2 Operating principles
- The path detector works based on the path detection sensor using the
TCRT5000 path detector sensor which is used to detect the difference between
the path (road) and the background. After encountering an obstacle, the vehicle
will turn 30 or 45 degrees to the left or right, depending on the programmer, to
avoid the obstacle and then return to the initially established path.

III. Analyze system requirements

3.1 Hardware
Frame:
- Use 4-wheel chassis
- Material: Mica
Engine:
- The vehicle uses V1 gear reduction motor and L2989N motor controller
Control circuit:
- Use 18650 battery with voltage 3.7V and 18650 battery base connected in
series
- Arduino Uno R3 SMD circuit with Type C wire
Sensor:
- The vehicle uses the TCRT5000 infrared road detection sensor to identify the
road (connected parallel to the front of the vehicle).
- Ultrasonic sensor HC-SR04
 The above parts are selected according to the criteria calculated below. Make
sure the Center of Mass (CoM) is within the base area to avoid tipping
3.2 Programming software
- Programming on Arduino IDE software
Programming code:

3.3 System requirements

- Robotic vehicles need to meet the following requirements such as automatic
navigation, path finding and object transportation to operate effectively in
structured environments
- Implementation criteria
High precision in movement
Low energy consumption
Reliable component durability for long-term use.
- Applications in home and industrial automation
3.4 Force analysis
- Forces acting on the robot include forces such as friction, gravity, push and
pull. The above deposits are formed during vehicle operation and vehicle weight
3.4.1 Vector Analysis
Use vector analysis to separate each force into components on the x, y, z axes (in
3D space) or x,yx, yx,y (in 2D space)
F x =F cos(θ), F y =F sin(θ)

With θ: Is the angle between the force and the x axis

If we analyze the force in 3D space, we have the formula
F total=√ F 2x + F 2y + F 2z

Benefits of vectors:
Helps solve problems in mechanics, electromagnetism, and problems related to
movement in space.
Assists in calculating and simulating complex physical phenomena.
If a force acts on an object in different directions, we can analyze this force into
its separate components to easily calculate and understand the effect of the force
in each direction.
3.4.2 Torque and results
Torque (M): Torque is calculated using the formula:
M =F × d

- With d: Distance from the force application point to the center of rotation.
- Used to analyze moments at each axis or joint of the robot to ensure there is no
imbalance causing overturning or vibration.
If the total force is 0 on all 3 axes ( ΣF x =0 , ΣF y =0) then the robot is in
equilibrium
ΣF x và ΣF yis calculated based on the following formula:

ΣF x =Fmotor , x −F f , x ; ΣF y =N−F g

- Gravity force (F g): Straight down.

- Motor force (F motor): Direction in the direction of robot movement.
- Friction force (F f): Opposite to engine force.
- Ground reaction force (N): Directs upward and is balanced with F_g on the y
axis
Factors affecting torque:
 Magnitude of force (F): Torque is proportional to the magnitude of force
acting on the object. If the force is stronger, the torque is greater.
 Distance (d): Torque is also proportional to the distance from the axis of
rotation to the point of application of the force. If the distance is greater,
the torque is greater, because the force can create a stronger rotational
effect.
 Force action angle (θ): Torque will reach its maximum value when the
force is perpendicular to the lever arm when θ=90° and decreases when
the force is not perpendicular to the lever arm.
3.4.3. State of balance and stability
To ensure that the robot does not slip off the line, a balance condition is required
ΣF x =0 , ΣF y =0 , ΣF z =0

Determine the midpoint and length of the distance

Required road square: 7.5m
To determine the center of the square, we apply the formula
x1+ x2 y1 + y2
M =( ; )
2 2

Robotic systems need a solid mathematical modeling and force analysis

foundation to ensure performance and durability. The use of vector analysis
techniques and simultaneous equations helps optimize designs, thereby better
serving industrial and household applications.

IV. Implementation process

4.1 Implement the plan
Progress and completion time
- Hardware assembly: Expected to be completed in 2 days (from November 10
to November 12)
- Programming and testing code: expected to be completed in 3 days (from
November 12 to 15)
- All work will be completed by November 16, 2024
List of ingredients to purchase
- 4WD 4-wheel mica frame (size 26 x 17.5 cm)
- TCRT5000 series detector sensor (2 pieces)
Specifications:
 Operating voltage: 3.3 - 5VDC
 Current consumption: <10mA
 Use comparator IC LM393
 Detection distance: 1mm - 25mm
 Adjust the sensitivity using the resistor on the circuit
 Output signal: digital and analog signals
 Dimensions: 32 x 14mm
- Arduino Uno R3 SMD Type C wire
Specifications
 Main control chip: ATmega328
 5V source
- Arduino Motor Shield L298
- 18650 battery base with 3.7V voltage connected in series
- 18650 battery (2 pieces)
- Bus cable, male and female sheath 20cm (20 pieces)
- Bus cable, 20cm female head (20 pieces)
- Bus cable, 2 20cm female cable ends (20 pieces)
- Switch KCD1-11
- V1 gear reduction motor plus wheels (wheel size: 65mm) 4x
- Screw (4mm)
- Ultrasonic sensor HC-SR04
Specifications:
 Voltage: 5V DC
 Operating current: < 2mA
 High level: 5V Low level: 0V
 Maximum angle: 15 degrees
 Distance: 2cm - 450cm (4.5m)
 Accuracy: 3mm
Connection: VCC (5V), trig (transmit control pin), echo (receive signal pin),
GND (ground)

4.2 Programming code

Determine the status of the infrared sensor.
Set up the motor control logic:
 Left and right sensors detect the road together: Go straight.
 Only the left sensor detects: Turn left.
 Only the right sensor detects: Turn right.
 Sensor not detected: Stop.
If the vehicle detects an obstacle, it will turn left or right according to the set
programming code to avoid the obstacle and return to the position to catch the
line.
Use Arduino IDE software to download
Loaded code:

4.4 Check and adjust

Check the infrared sensor:
- Place the robot on the surface with the line drawn with black tape.
Observe the signal from the infrared sensor (use Serial Monitor if necessary).
Check migration:
- Test run the program to check the statuses: go straight, turn left, turn right,
stop.
- Adjust sensor position if necessary.
Check the ultrasonic sensor
Check the Trig and Eccho ports to make sure they are still receiving feedback
and transmitting signals
The programmed vehicle ran successfully throughout testing, but during coding
and testing, the vehicle encountered coding and terrain-related issues including:
- Unable to get black line and direction
- Engine wires and codes do not match, causing the vehicle to go in the opposite
direction
- When the vehicle encounters a faulty black wire and cannot move
- Confusion between Analog and Digital ports
- The Echo port of the ultrasonic sensor does not receive a response signal
The team fixed the error by editing the code to accommodate the connected
wires and fixing the sensor circuit in just enough position for the circuit to pick
up the line.

V. Calculations related to force and torque motion

The robot has a mass of 0.2 kg and a speed of 1m/s and runs for 4 seconds. From
the above parameters we can calculate
v 1
Acceleration: a= t = 4 =0.25

Force: F=ma=0 ,2 ×0.25=0 , 05

Power at maximum speed is: P=Fv=0.05× 1=0.05 W
5.1 Linear equations
Line equation: y=mx+b
m: slope
b: intersection with y axis
∆
x 1−0
Slope: m= ∆ = 4−0 =0.25
y

Equation: v=0.5t
5.2 Quadratic equation of motion
 1 2
Recipe: s=v o t+ 2 a t

Based on the above formula, we can calculate the distance the car travels after 4
seconds as 2m
5.3 Exponential and logarithmic functions in system analysis
Công thức hao mòn: N ( t )=N 0 e−kt
Công thức tiêu thụ năng lượng: E ( t )=E0 e−kt
Xe dò line có tuổi thọ N 0=2h 30 , với k=0.05 ( k là hằng số hao mòn )
5.4 Application of complex numbers in AC circuit analysis
Basic components and characteristics in AC circuits
Resistance (R):
Resistors are energy consuming components in a circuit.
In an AC circuit, the voltage and current through the resistor are always in
phase.
They do not create a phase delay, but only reduce the current amplitude.
Inductor (L):
An inductor is a coil of wire, which creates a magnetic field when current flows
through it.
In an AC circuit, an inductor causes a 90° phase delay between voltage and
current (voltage leads current).
The inductor "resists" the changing current by generating an induced emf.
Capacitor (C):
Capacitors store energy in the form of an electric field.
In an AC circuit, a capacitor creates a 90° phase lead between voltage and
current (current leads voltage).
When the frequency is high, the capacitor allows current to pass more easily (the
capacitor's ability to conduct electricity increases).
In control systems, such as autonomous mobile robot design, complex numbers
are used to analyze and optimize system behavior, helping to ensure stability,
accuracy, and energy efficiency. quantity. Automated robots often have to
perform tasks such as navigating the environment, avoiding obstacles, and
moving smoothly. Complex numbers support motion planning by analyzing
feedback from sensors and adjusting system behavior in real time. When
designing, engineers use complex numbers to determine system stability and
fine-tune operations to reduce energy consumption and increase the durability of
components, ensuring they operate reliably. for a long time. In control systems,
such as autonomous mobile robot design, complex numbers are used to analyze
and optimize system behavior, helping to ensure stability, accuracy, and energy
efficiency. quantity. Automated robots often have to perform tasks such as
navigating the environment, avoiding obstacles, and moving smoothly. Complex
numbers support motion planning by analyzing feedback from sensors and
adjusting system behavior in real time. When designing, engineers use complex
numbers to determine system stability and fine-tune operations to reduce energy
consumption and increase the durability of components, ensuring they operate
reliably. for a long time.

VI. Numerical simulation

VII. Optimize efficiency

7.1 Robot system model using probability theory
Each component in the system has a probability of failure or successful
operation within a certain period of time and to calculate reliability, we need to
determine:
Calculate the failure probability of the entire system based on total failure
Use chain probability to calculate the lowest probability of the entire system.
P ( The system is successful ) =P (A )× P(B)× P(C )

Or use parallel probability:

P ( The system is successful ) =1−( 1−P ( A ) ) × ( 1−P ( B ) ) × …

Where P(A) and P(B) are the failure probability of each part
7.2 Strong design recommendations
To keep the vehicle operating normally and without any errors, we can buy
backup products related to line detector vehicles. It is necessary to calculate the
vehicle's lifespan and load-bearing capacity to make appropriate choices when
purchasing materials.
Easy design, easy to install and repair. Perform tests and run computational
simulations on Python to identify weaknesses before going live
7.3 Optimize energy consumption
Energy optimization strategies focus on reducing consumption and improving
system utilization. Measures include intelligent motor control such as PWM to
deliver optimal torque, battery management system (BMS) integration to extend
lifespan and maintain ideal state of charge, as well as Optimize travel routes to
reduce unnecessary distances and operating time. These strategies save 10-20%
energy and increase overall efficiency.
Meanwhile, the performance enhancement strategy emphasizes improving
navigation accuracy through algorithms such as SLAM and MPC, optimizing
sensor operations by reducing unnecessary scanning frequency, and reducing
Heat loss through improved heat dissipation system.
7.4 Matrix
Analyze the relationship matrix between inputs (such as sensor frequency, motor
torque, component energy consumption and durability) with performance
indicators (accuracy, consumption energy, life and efficiency) shows that factors
such as motor torque and sensor frequency have the greatest influence
Optimal solutions include:
Intelligent motor torque control to reduce energy consumption while ensuring
accuracy
Activate sensors on demand to save energy, and use sustainable materials to
increase system longevity.

VIII. Document
8.1 Wiring diagram

8.2 Video of the car running

8.3 Learner practice

8.4 Cost
Conclude
Designing an autonomous robot vehicle system that navigates a structured
environment requires a combination of many technical factors, including high
precision in motion, energy savings, and durability of components. when used
for a long time. To achieve this goal, the system must be optimized in both
hardware and software, ensuring flexibility in avoiding obstacles, transporting
objects, and finding effective paths. Precision in movement helps the system
perform its tasks efficiently, while energy efficiency extends operating time
without the need for frequent recharging. At the same time, the durability of the
system components ensures stability and reliability in harsh working
environments, contributing to increased efficiency in industrial and daily work
support applications. All of these factors need to be carefully considered to build
an optimal robot vehicle system