The Design of Electrical Putter Car Moving Robots Based on Microcontroller Control Jie TANG and Xiao-min LIU

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1 2016 International Conference on Applied Mechanics, Electronics and Mechatronics Engineering (AMEME 2016) ISBN: The Design of Electrical Putter Car Moving Robots Based on Microcontroller Control Jie TANG and Xiao-min LIU Applied Technology College of Jilin University China Keywords: Car moving, Robots, Electric putter. Abstract. This paper designs an electrical putter vehicle moving robot based on microcontroller control. The control system uses the microcontroller to control the stretching of the electrical putter, thus to realize the forward movement and backward movement of the overall framework, it is entirely powered by electricity; meanwhile, it has the eyes, ears and the brain in true sense, it uses the photoelectric switch to generate automatic obstacle avoidance function; it has the functions such as infrared communication, self-control speed and torque, self-read road conditions and so on. Introduction Along with the increase in car ownership, the parking spaces are going increasingly tense, the difficulty in parking has become an important problem that the current society and car owners must face. The space utilization of ordinary parking lots is only 40%~60% of the occupied area. According to relevant statistical information, the non-police affairs occupy a very large proportion of daily work of the public security organs in large and medium cities. The call for car moving help accounts for about 30%, in some police stations, it accounts for more than 50%. Traditionally, the policemen need to try their best to find the car owners according to the car information, it is time-consuming and the effect is very low. It is a serious waste of police resources, and it is also quite complicated process. Sometimes, it is very difficult for the drivers to use the empty parking spaces, which will inevitably lead to unnecessary "collision" and disputes. Therefore, the research on car moving robots will undoubtedly become an important direction of robots development and research in the future. At present, there are researches on realizing car moving by virtue of parking robots, handling robots and carrying robots at home and abroad. However, there are only fewer researches on car moving robots, and the car moving tools are large and bulky, which makes the using very cumbersome. For relevant companies, car moving services have very high requirements on professional and technical capacity, it is also more difficult to realize personal use. For ordinary car owners, it is very expensive to have its own car moving robots. Therefore, the car moving robots with small size, easy operation, full-range functions and inexpensive prices will have very broad application prospects. Design Purpose of Electrical Putter Car Moving Robots 1) Provide the car owners with car parking services, make it easier for the car owners to move the cars into or out of relatively narrow spaces, thus to reduce parking difficulty and make parking much more safe and convenient. 2) Provide the public security authority with equipment support when the public security authority provides car moving services. 3) Facilitate the parking lots to provide the customers with simple and safe parking services. 4) Provide the car companies with simple and inexpensive car moving equipments. 5) Move the cars into relatively narrow spaces in case of exceptional circumstances.

Analysis on Moving System of Car Moving Robots Configuration of Moving System of Car Moving Robots The car moving robot mainly consists of support plate 1, framework 2, electrical putters 4,5,7,9,

2 Analysis on Moving System of Car Moving Robots Configuration of Moving System of Car Moving Robots The car moving robot mainly consists of support plate 1, framework 2, electrical putters 4,5,7,9, drive motors 3,6,8,10, the connections are as shown in Figure 1. Each car moving robot consists of 4 sets of electrical putters, each set of electrical putters have 2 pieces, it forms a triangle, each electrical putter stretches under the driving of the motor, thus to realize the moving of the stretching of electrical putter. 1. Support Plate, 2. Framework, 2, 3,6,8,10: drive motor, 4,5,7,9: electric putter Figure 1. Overall Configuration of Car Moving Robots. Kinematic Analysis of Moving System of Car Moving Robots Take a set of electrical putters as the research objects, study their movement laws, establish the coordinate system as shown in Figure 2, the midpoint of the two putters and the support plate plant connection point is the origin, the support plate plane is at the direction of x-axis, the downward direction perpendicular to the support plate is the y-axis direction. The minimum length of the electrical putter: a, the longest stretched length: b, the distance between the two putters and the support plate plant connection point: L. Figure 3 is an electric putter trajectory, the two points 1 and 2 are two extreme positions of the movement of the connection points of two putters. The shaded area is the movement area of the connection points of two electrical putters (i.e., one leg of the robot). Figure 2. Coordinate System of Electric Putters. Figure 3. Electric Putter Trajectory. In order to make the movement of the car moving robot very steady while moving the cars, control the electrical putters and make them move along the rectangular trajectory, it is as shown in Figure 4, the rectangular shaded area is the trajectory. Take a two points (x1, y1), (x2, y2) of the rectangular to carry out motion path analysis as follows:

3 Figure 4. Established Trajectory of Electrical Putters. x 1 =x 2 =L/2 y 1 =a y 2 2 +L 2 =b 2 Assuming the distance of the intersection of two putters (moving from y1 to y2) is h, then Since h> 0, then According to the relationships among the three sides of the triangle, it can be derived that L> b-a. Therefore, for a cycle., L is the car moving distance when the electric putter has ran Design of Control System of Car Moving Robots Composition of Control System 1) Hardware Configuration of Control System The main modules of the control system are installed under the support plate of the car moving robots, they consist of the host computer system and the slave system. The host system consists of: operation system, wireless communication system and main signal acquisition and processing system, it is used for human-computer interaction, implementation of robot motion control algorithm, as well as signal acquisition and processing. The slave computer system refers to the motion controller, it is mainly used to control the walking of the robots. The information transmission between the host computer system and the slave computer system is realized by virtue of wireless communication system. Please see the details as follows: Operating System: it can be cell phone or computer. The operator can convey control commands to the robots via the wireless communications system. Signal acquisition and processing system. The system includes obstacle avoidance sensor, acceleration sensor, CAN bus device and foot-end limit switches. The obstacle avoidance sensor mainly refers to that the photoelectric sensor is connected to the 1/0 port of microcontroller via a/d converter, it can detect the car body and the surrounding articles, thus to realize the obstacle avoidance function and determine moving direction of the robots; the acceleration sensor is also known as stability sensor, it can be used to judge the stability analysis of the robots walking; CAN bus device is used to detect the current information of all motors; the foot-end limit switches are

4 used to judge the contact state between the foot and the ground. Controller. Arduino microcontroller is used as the slave computer. It uses the commands of host computer and the information acquired by the signal acquisition and processing system, organizes and coordinate the movement of servo motor, thus to control the electrical putter to do stretching movement. The electrical putter car moving robots based on microcontroller can adjust the stretching of the electrical putter according to the output voltage polarity of the microcontroller, adjust the stretching speed of the electrical putter according to the duty cycle of output voltage of the microcontroller, and continuously adjust the stretching speed of the electrical putter to make the intersection of two electrical putters to move steadily, so that the robots can move the car to the designated place. The microcontroller module uses Arduino as the core controller, the control module is the control core of the car moving robot, it can receive the controller s commands via wireless data communication module, command and control the robot s specific action, complete the control over the drive unit and realize basic movements of the robot: forward and backward; receive the information from the obstacle avoidance sensor, process the information and send the information back to the host computer; send signals to the control motor to control movement of the stretching rod, thus to realize robot moving. Conclusion This paper describes an electrical putter car moving robot based on microcontroller control and carries out an analysis on moving system and control system of car moving robot, uses geometric analysis methods to carry out kinematic analysis on leg movement, and describes the hardware and software configuration of the control system. This system has filled the gap of car moving robot market that the mechanical system structure is simple and compact, the control system is intelligent, the electrical putter can be stretched, it is portable and it has broad application prospects. References [1] Stéphane Bazeille, Victor Barasuol. Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intelligent Service Robotics, 2014, Vol.7 (2), pp [2] K. Rushdi, D. Koop, C. Q. Wu. Experimental studies on passive dynamic bipedal walking[j]. Robotics and Autonomous Systems, 2014, 62 (4): [3] R. P. M. Chan, K. A. Stol, C. R. Halkyard. Review of modelling and control of two-wheeled robots[j]. Annual Reviews in Control, 2013, 37(1): [4] Saito, K, Takato, Minami. Development of quadruped robot with locomotion rhythm generator using pulse-type hardware neural networks. Artificial Life and Robotics, 2015(2), pp [5] Tanie K. Humanoid Robot and Its Application Possibility. IEEE Int. Conf. on Multi-sensor Fusion and Integration for Intelligent Systems, 2003: [6] S. Hirose, K. Kato. Study on quadruped walking robot in Tokyo institute of technology-past, present and future [C] Proceedings of the 2000 IEEE International Conference on Robotics & Automation, 2000, pp [7] G. Nelson, K. Blankespoor, M. H. Raibert. Walking BigDog: Insights and challenges fromlegged robotics [J], Journal of Biomechanics, 2006, 39: S360. [8] M. Neumann, T. Predki, L. Heckes, P. Labenda. Snake-like, tracked, mobile robot with active flippers for urban search-and-rescue tasks[j]. Industrial Robot, 2013, 40(3): [9] Zhuang Hongchao. Structural Design and Mobility Characteristics of Electrically Driven Hexapod Robots with Large Carrying Capacity-Harbin Institute of Technology 2014.

5 [10] Thanhtam Ho, Sunghac Choi, Sangyoon Lee. Development of a Biomimetic Quadruped Robot. Journal of Bionic Engineering, 2007, Vol.4 (4), pp [11] Agheli, M, Nestinger, Stephen S. Foot Force Based Reactive Stability of Multi-Legged Robots to External Perturbations. Journal Of Intelligent & Robotic Systems, [12] Yan Weiliang, Lu Gang, Li Shengjin, Zhang Jun: Dynamics Analysis and Motion Simulation of Hydraulically Actuated Quadruped Robots-Mechatronics School of Northwestern Polytechnical University; [13] Gu Zhenbing; Cheng Tao: Design of Hydraulic Cylinder of Carrying Exoskeleton Robots-School of Energy and Power Engineering, Beijing University of Aeronautics and Astronautics. [14 ] Komatsu, H, Endo, G. How to optimize the slope walking motion by the quadruped walking robot. Advanced Robotics, 2015(2), pp [15] Lai Qingren, Zhang Xuesheng, Zhao Yongdong, Su Ligang, Liu Chang: Preliminary Design of Hydraulic Drive System of Carrying Exoskeleton Robots- Mechanical Engineering Faculty of Armored Force Engineering Institute. [16] Wang Haiyan: Design and Control of Hydraulically Actuated Biped Robot Moving System-Shandong University.

Keywords--Bio-Robots, Walking Robots, Locomotion and Stability Controlled Gait.

Keywords--Bio-Robots, Walking Robots, Locomotion and Stability Controlled Gait. Six Legged Locomotion on Uneven Terrain Kale Aparna S., Salunke Geeta D. kaleaparna5@gmail.com, geetasalunke@gmail.com Abstract -In this paper current state of many walking robots are compared and advantages