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Design A Two Wheel Line Following Robot Integrated With Infrared Sensors

This document provides instructions for designing a two-wheeled line following robot integrated with infrared sensors in 15 steps. It describes how to create the main robot body, add wheels connected by revolute joints, attach proximity sensors for line detection, and include a frictionless slider connected to a force sensor for feedback control. The robot is designed to follow a line using sensor input to control the wheel motors.

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Prince
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239 views15 pages

Design A Two Wheel Line Following Robot Integrated With Infrared Sensors

This document provides instructions for designing a two-wheeled line following robot integrated with infrared sensors in 15 steps. It describes how to create the main robot body, add wheels connected by revolute joints, attach proximity sensors for line detection, and include a frictionless slider connected to a force sensor for feedback control. The robot is designed to follow a line using sensor input to control the wheel motors.

Uploaded by

Prince
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Name: Prince Group-504A

UID-21BCS4216 Course: DT-2


Experiment No-3.2
Aim: Design a two wheel line following robot integrated with infrared sensors.

1.) To create a bubbleRob(robot)


Right click🡪add🡪primitive shape🡪choose sphere
Take x🡪0.2

2. properties of bubbleRob:-
Collideable ,detectable and measurable
3. 3.lifting little up towards z direction
position tab->translation-->z=0.02

4.) add proximity sensor-->sensing nose


right click on the surface-->proximity sensor-->choose cone type
paste screenshot
5. change the direction-->

select sensor--->goto pos tab-->position


change x=.1
z=.12

6. orientation tab-->orientation

beta=90
gamma=90
7. changing the offset, range and angle of sensing nose
goto properties of sensing nose--->volume parameters

offset-->0.005
range-->0.15
angle-->30
bubble rob-->seperate entity
sensor-->seperate entity

we have to join
select subpart (nose)-->press control--->select main part--->
rightclick-->edit-->make last selected object as parent

8. we have to create (shape of wheels) 2 wheels--->cylinder

goto new scene-->add cylinder

right click-->add-->primitive shape-->cylinder


x=0.08
z=0.02
change position and orientation

goto position tab-->position-->change

x=0.05
y=0.1
z=0.04

goto orientation tab-->orientation


alpha--->-90
9
copy paste the wheel

cylinder 1-->pos-->y=-0.1
rename
cylinder0-->bubbleRob_leftWheel
cylinder1-->bubblRob_rightwheel

copy and paste in main scene


10. add joint-->revolute joint

control c
control v
11. select one joint+control+select leftwheel

goto position tab-->press apply to selection

goto orientation tab-->orientation-->aply to selection

repeat these steps for right wheel

12. rename the joints

joint with left wheel--->bubbleRob_leftMotor


joint with rightwheel-->bubbleRob_rightMotor

motor-->as parent
wheel as subpart and (13.) parent-->bubble rob
motors-->sub parts

14. slider
new scene-->add sphere-->>x=0.05

properties-->collidable, detectable, measurable


double click on icon-->common-->check these properties
rename-->bubbleRob_slider

property-->dynamic properties-->edit material


friction 3 times(static)--->0

15. add friction sensor


rightclick--->add-->force sensor

16. force sensor-->position tab-->position--->


z=0.05
rename-->bubbleRob_connection

force sensor-->parent
sphere-->subpart
copy paste these two in main robot

open position tab of connetor--->x=-0.07

join connector and bubble rob

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