A

Project Report
on
ROCKER BOGIE MECHANISM
Submitted In Partial Fulfilment Of The Requirements
For The Degree Of
BACHELOR OF TECHNOLOGY
IN
MECHANICAL ENGINEERING
Submitted By: Under the Supervision of
Akarsh singh Paliwal Ms.Garima Singh
(2000560400003) (Asst. Professor)
Anchal Maddheshiya
(2000560400004)

BABU BANARASI DAS NORTHERN INDIA INSTITUTE OF

TECHNOLOGY, LUCKNOW

AFFILIATED TO
DR. A. P. J. ABDUL KALAM TECHNICHAL UNIVERSITY

LUCKNOW (2023-2024)
 ACKNOWLEDGEMENT

I express deep sense of gratitude and gratefulness to Dr. N.K. MISHRA, Head of Department
of Mechanical Engineering, who blessed me with his valuable suggestion, constant
encouragement, invaluable support, and parental affection and providing the necessary
facilities during the course of project.

I consider myself auspicious enough to complete project report under the guidance of project
in charge Mrs Garima Singh. Her leadership quality, cooperativeness, absolving nature and
beneficial attitude fill me with power of standing tall. I bow in respect to my ma’am.

In my opinion words cannot be sufficient in paying my gratefulness to my respected faculty

members. I am highly grateful for their encouragement and sympathetic attitude. I express
my sincere thanks to them. And lastly, I would like to give my special thanks to my classmates
for their cooperation and needful suggestion.
AKARSH SINGH PALIWAL (2000560400003)

ANCHAL MADDHESHIYA (2000560400004)

1
 ABSTRACT

Rocker Bogie is a suspension system used in mars rovers like Pathfinder, Curiosity etc. The
specialty of this suspension system is that it does not have any springs. The term "rocker"
comes from the design of the differential, which keeps the rover body balanced, enabling it to
"rock" up or down depending on the various positions of the multiple wheels. Bogie means
links that has driven wheels at each end. This mechanism can climb obstacles like rocks which
are more than twice or three times the diameter of the wheels while the all six wheels are
touching the ground, whereas the other suspension tilt stability is limited to centre of gravity
(the less height the more stable). Our project deals when this mechanism is fixed with
auxiliaries like cutting blades they can be used as lawn mowers which can climb the obstacles.
These mechanisms can take a direct 55 degree climb without overturning.

It is a versatile and robust suspension system commonly employed in various types of robotic
vehicles, notably exemplified by NASA's Mars rovers. This mechanism consists of a series of
interconnected pivoting arms and bogies, which allow the vehicle to traverse rough and
uneven terrain while maintaining stability and manoeuvrability. The abstract of a paper on this
topic might summarize its design principles, applications, and advantages, emphasizing its
significance in enabling exploration in challenging environments, such as extraterrestrial
surfaces or disaster zones on Earth. It could also touch upon the engineering challenges
associated with its implementation and potential avenues for further research and
optimization.

2
 LIST OF ABBREVIATION

M2M Machine-to-Machine

IEEE The Institute of Electrical and Electronics Engineers

EEE Electrical and Electronics Engineering

MCH Mechatronics Engineering

3D Three Dimensional

PVC Polyvinyl Chloride

U-PVC Unplasticized Polyvinyl Chloride

DC Direct Current

TL Turkish Lira

WBS Work Breakdown Structure

CE Conformite Europeenne

IEC International Electrotechnical Commission

ISO International Organization for Standardization

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 DECLARATION

We hereby declare that the work presented in this report entitled “PROJECT TITLE", was
carried out by us. We have not submitted the matter embodied in this report for the award of
any other degree or diploma of any other University or Institute.

We have given due credit to the original authors/sources for all the words, ideas, diagrams,
graphics, computer programs, experiments, results, that are not our original contribution. We
have used quotation marks to identify verbatim sentences and given credit to the original
authors/sources.

We affirm that no portion of our work is plagiarized, and the experiments and results reported
in the report are not manipulated. In the event of a complaint of plagiarism and the manipulation
of the experiments and results, we shall be fully responsible and answerable.

Date:

Signature of Student1: Signature of Student2:

Name of Student1: Name of Student1:
University Roll No.: University Roll No.:
Branch: Branch:
Institute: Institute:

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 CERTIFICATE

Certified that Akarsh Singh Paliwal (2000560400003), Anchal Maddheshiya

(2000560400004), have carried out the Project work presented in this report entitled “Rocker
Bogie Mechanism” for the B.Tech. Final Year in the Academic Session 2023-24 from Babu
Banarasi Das Northern India Institute of Technology (AKTU Code: 056), Lucknow under my
supervision. The report embodies result of original work and studies carried out by the
students themself and the contents of the Project do not form the basis for the award of any
other degree to the candidate or to anybody else.

Date:
Name & Signature of Project Guide: Name & Signature of HOD:
Designation: Head of Department:
Name of Department: Name of Department

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 CHAPTER 1
INTRODUCTION
1.1
1.1Overview

1.1.1 Identification of the need:

This product is designed for those who want to reach inaccessible places. The main objective
for this product is to climb any kind of stairs to reach to the top by itself, but it can be modified
easily to be an all- terrain robot.

1.1.2 Definition of the problem

The main task for team to design and construct a robot that will autonomously climb the top
19 steps of the faculty staircase (BBD building). Also, it can be able to climb any kind of stairs
autonomously.

Figure 1 Illustration of Robot & Stairs

1.1.1
1.1.3 Standards and constraints

This robot complies with all the standards to IEEE, CE, IEC, and ISO because it’s made by all
original electrical, electronic and electromagnetic devices. Cabling made safely to not to create
a dangerous situation to users. The power supply that provides power to the system and the
motors is 12 Volts DC and it’s below dangerous limit (50 Volts). The two major constraints are:
1
• No jumping nor flying allowed.

• Remote control is not allowed by any means (Wi-Fi, radio signals etc.); the vehicle

must be autonomous with all sensors, controls and computation located on the vehicle.

1.1.4 Conceptual solutions

During design process, we have created multiple conceptual designs. Some of the significant
ones andinfluential ones for our last design are:

1.1.4.1-Legged Based Robot:

This design idea was inspired by Boston Dynamics’ SPOT design [1]. We didn’t choose this
design because of it would be very hard to operate and sustain within the economical limits we
have.

Figure 2 Boston Dynamics

1.1.4.2 6 Wheel Robot:

This design idea was inspired by NASA’s Mars Rovers [2]. This design idea was the most
influential one on the final version of design. The reason for that is Mars Rovers are designed
to overcome any terrains that they face, and it is similar to this project’s goal, climbing any
stairs.

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 Figure 3 6 Wheel Robot

1.1.4.3-Track Based Robot:

This design was also influential on the final design. Tracks are used wide spreadly on offroad
vehicles due too it’s high friction levels.

Figure 4 Track Based Design

1.1.4.4 Electrical Systems:

• Raspberry Pi with image processing:

This design wasn’t used on final because it requires higher costs, higher processing power
and higherlevel of programming languages. It’s simply over engineering for this problem.
• Arduino MEGA with optic distance sensors

This design wasn’t used on final because optical sensors can be unreliable for this task.

3
1.1.4.5 Physical Architecture:

On final design we blended track-based model and 6-wheel model to create the optimum design
for our problem. For the electrical side we choose the Arduino MEGA with ultrasonic sensors
and gyroscopes to navigate the robot through stairs.

Figure 5 Final Design of Robot

1.2 HISTORY

The rocker-bogie mechanism is a critical component in the design of Mars rovers and other
off-road vehicles. It’s a suspension system that allows a vehicle to traverse uneven terrain while
maintaining stability.

1.2.1 Origins:

The rocker-bogie suspension system was developed by engineers at NASA’s Jet Propulsion
Laboratory (JPL) in the late 20th century. It was initially conceived for the Mars Path-finder
mission, launched in 1996.

1.2.2 Mars Pathfinder:

The Sojourner rover, part of the Mars Pathfinder mission, was the first rover to use the rocker-
bogie suspension. This system allowed Sojourner to navigate the rocky Martian terrain with
remarkable stability and flexibility.

1.2.3 Success of Sojourner:

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Sojourner’s successful operation on Mars demonstrated the effectiveness of the rocker-bogie
suspension system in real-world conditions. It inspired subsequent rover designs forfuture
Mars missions.

1.2.4 Spirit and Opportunity Rovers:

The rocker-bogie suspension system was further refined and used in the design of the Spirit
and Opportunity rovers, launched in 2003. These rovers greatly exceeded their planned mission
durations, largely due to their robust mobility systems.

1.2.5 Curiosity Rover:

NASA’s Curiosity rover, launched in 2011, also employs the rocker-bogie suspension system.
Its larger size and enhanced capabilities required modifications to the original design, but the
fundamental principles remained the same.

1.2.6 Perseverance Rover:

Most recently, NASA’s Perseverance rover, launched in 2020, utilizes an advanced version of
the rocker-bogie suspension. This system enables Perseverance to navigate Mars challenging
terrain, search for signs of the past microbial life, and collect samples for potential return to
Earth.

1.3 IMPORTANCE OF MOBILITY SYSTEMS IN PLANETARY

EXPLORATION

Mobility systems play a crucial role in planetary exploration, enabling robotic vehicles to
traverse diverse and challenging terrains on celestial bodies like Mars, the Moon, and beyond.
Here are some key reasons highlighting the importance of mobility systems in planetary
exploration.

1.3.1 Access to Diverse Terrain:

Planetary surfaces feature a wide range of geological features, including rocks, slopes,
craters, sanddunes, and boulders. Mobility systems allow exploration vehicles to access and
explore these diverse terrains, providing scientists.

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1.3.2 Scientific Exploration:

Mobility systems facilitate the movement of exploration vehicles to specific sites of scientific
interest, such as regions with evidence of past water activity, geological formations, or areas
with potential signs oflife. By reaching these targeted locations, rovers can collect samples,
conduct experiments, and analyze the surrounding environment, advancing our understanding
of planetary processes and the possibility of extraterrestrial life.

1.3.3 Long-Distance Travel:

Planetary exploration missions often involve traversing significant distances over the course of
several months or years. Mobility systems enable vehicles to navigate these long distances
efficiently, covering a wide range of terrain types while conserving energy and resources.
This capability allows rovers toexplore vast regions of planetary surfaces and gather
comprehensive data about their geology, climate,and atmosphere.

1.3.4 Survivability in Harsh Environments:

Celestial bodies like Mars and the Moon present harsh and unpredictable environmental
conditions, including extreme temperatures, dust storms, and radiation exposure. Mobility
systems are designed to withstand these challenges and ensure the survival of exploration
vehicles over extended periods. Robust suspension systems, durable wheels, and advanced
navigation capabilities contribute to the resilience of rovers operating in extraterrestrial
environments.
1.3.5 Adaptability to Unknown Terrain:

During planetary exploration missions, vehicles often encounter unforeseen obstacles and
terrain features that require real-time adaptation and problem-solving. Mobility systems with
agile navigation capabilities and flexible suspension designs allow rovers to navigate around
obstacles, traverse steep slopes, and adjust to changes in terrain conditions, maximizing their
ability to explore and gather data in dynamic environments.

1.3.6 Mission Success and Cost-Effectiveness:

The effectiveness of planetary exploration missions depends on the mobility and reliability of
exploration vehicles..
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 CHAPTER 2

DESIGN PROCESS

2.1 Electrical and Electronics Engineering

2.1.1 Definition of the problem

This stair climbing robot aims to climb any stairs, fully autonomously, without any remote
control or help. By the nature of its design, it can be used as an all-terrain vehicle/robot as
well. This features also provides great flexibility on robot’s usage areas; for example, it can be
helpful for disabled people or elders to climb stairs on the other side it can help law forces to
access dangerous areas, buildings, places. This robot can adapt to new environments and
conditions very easily.

2.1.2 Review of technologies and methods

This robot is designed very efficient due to economical boundaries. It uses ultrasonic sensor
array that we designed instead of image processing because camera would cost much more and
it would require more powerful processor to do not same but similar work. On the front side of
the robot, there are 4 ultrasonic sensors measuring real time distance values to detect the steps
of the stairs. It requires upper 2 sensors to be same values, lower 2 sensors to be same values
and at the same time lower 2 and upper 2 sensors’ values’ difference should be exact to the
steps’ width. Robot also consists of a gyroscopic sensor to sense the slope. 12 Volts 7Ah DC
power supply used in this project. Which is enough for the robot if we consider, a motor will
draw 530mAmps in maximum load conditions. 4 𝑥 530𝑚𝐴 = 2120𝑚𝐴𝑚𝑝𝑠 and 7000𝑚𝐴ℎ ÷
2120𝑚𝐴 = 3.30 ℎ𝑜𝑢𝑟𝑠 of energy will be supplied in maximum load conditions of motors.
(Sensors and microcontroller’s energy consumption is neglected because of very low values).

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 Figure 6 Sensor Array testing prototype

2.1.3 Flow Chart of Coding Algorithm

Figure 7 Flowchart of Coding Algorithm

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2.1.4 Standards and constraints

This robot complies with all the standards to IEEE, CE, IEC and ISO because it’s made by all
original electrical, electronic and electromagnetic devices. Cabling made safely to not to create
a dangerous situation to users. The power supply that provides power to the system and the
motors is 12 Volts DC and its below dangerous limit (50 Volts).

2.1.5 Conceptualization

Project had 3 concept electronical designs:

• Raspberry Pi with image processing
• Arduino MEGA with ultrasonic distance sensors
• Arduino MEGA with optic distance sensors

These projects have two option due to economical boundaries and being familiar with the
sensors. 4 motors have chosen because of the mechanical design. Motor’s specifications are;
50 RPM 530 mA strain current and 1.21 N/m. 12 Volts 7 Ampere. Hour DC power supply has
chosen because of the requirements of the 4 motors.

2.1.6 Physical Architecture

Robot contains 7 ultrasonic sensors; 4 on the front, 1 on left, 1 on right and 1 on the back. A
gyroscope placed on top of the robot and Arduino on top as well. 4, 12 Volts redactor motors
have placed; 2 on tracks and 2 on back wheels. The detection of stairs system works thanks to
4 ultrasonic sensors placed in front of the robot accompanied by a gyroscope and the Arduino
MEGA.

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 Figure 8 Sensor Array Placed on Robot

2.1.7 Risk assessment

There are various risk on system design:

2.1.7.1 Insufficient battery life and ampere rating

In this project this problem is solved by using a 12 Volts 7Ah dry battery. This power supply
offers minimum 3 hours of operation time.

2.1.7.2 Sensor calibration and sensivity

The ultrasonic sensors used in this project (HC-SR04) can be not sensitive enough for the
purpose but in the coding part it’s eliminated by adding tolerance to the measurement and
calibrating.

2.1.7.3 ‘Unstability of robots’ usage areas

This robot will be used in various environments and it is autonomous. These conditions make
the robots movements, and data needing to understand to environment makes harder to
estimate. And also, the operation areas of the robot are rugged. These difficulties overcame by
using heavy duty parts and fastening the electronics to the sturdy places.

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2.1.7.4Mistakes at testing

Mistakes at testing can be very dangerous because it can cause irreversible damages to the
robot itself. If robot falls during testing it can break the system and itself, and we could not be
able to determine the mistake as well. And on the other hand, one mistake that we overlooked
on testing can emerge at the presentation. These difficulties overcame by creating a safe
environment to test and test as much as possible.

2.2 Materialization

The physical structure of sensor array has not been changed since 4991 course and it is built as
planned. The framework that is 3D printed has some aesthetical flaws due to 3D printer itself
but it fulfils the tasks. The results are:

Figure 10 Front side of Sensor Array

Figure11
Figure 9 Back Side OfSensor
side of Sensor Array

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The first thing that team started to work on the code is to calibrate the distance sensors, get
values from them and to code the microcontroller to perceive the stairs. Then team worked on
program the microcontroller to make it capable of making decisions. After all the main
structure of coding is finished, team worked on making it more optimized and efficient.

2.3 Mechatronics Engineering

2.3.1 Definition of the problem

There are some challenging stairs climbing robots. However almost all of them have risks on
at least one part of working algorithm. For instance, tank track-based robots are having a great
risk of turn over. If the motor calculations are not done perfectly, torque might be too much for
that robots’ weight and it could turn over. For legged based robots, stairs surface is vital.
Depending on the material that is assembled on the robot`s touching point to the ground, robot
can slip and fall over.

Figure 12 Mechanical Design

2.3.2 Review of technologies and methods

2.3.2.1 Legged Based Robot

As shown in Fig 10 in this type of designs carrying parts are the legs of the robot. Robot
climbs the stairs with its legs 2 to 4, as a living being.

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 Figure 13 Legged Based Robot

Other Examples

Figure 15 Boston Dynamic Spot 1

Figure 14 Mechanical Design 2

Figure 16 Mechanical Design 2

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2.4 Standards and constraints

This robot complies with all the standards to IEEE, CE, ASTM, IEC and ISO because it’s made
by all original electrical, electronic and electromagnetic devices. Cabling made safely to not to
create a dangeroussituation to users. The power supply that provides power to the system and
the motors is 12 Volts DC and its below dangerous limit (50 Volts).

2.4.1 Constraint

• No jumping or flying.
• No remote control; the vehicle must be autonomous with all sensors, controls and
computationlocated on the vehicle.
• The robot must not be assisted in any way by a human once it starts its climbing
task from the floorbelow the first step.
• The robot must carry its own energy source.
• The robot must start at the bottom of the stairs, not touching the first step.

A robot will be designed and constructed to autonomously climb the top floor of our Faculty
Buildings).

•
Figure 17 Example of Robot Climbing on Staircase

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2.4.2 Conceptualization

2.4.2.1 Wheel Track Robot

The tracked-wheeled mobile robot has gained significant attention in military, agricultural,
construction, and other fields due to its exceptional mobility and off-road capabilities.
Therefore, it is an ideal choice for reconnaissance and exploration tasks.

Figure 18 Wheel track Robot

In these models, robot is carried by wheels or tank tracks. Instead of acting like a living creature
it moves as a vehicle. In addition, calculations are quite different than legged based robot.
Figure 12 are alternative concept design. We designed the robot to prevent those risks.
With combining wheel and tank-track systems the robot will not turn over or slide on the
ground and fall.

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.
Figure 19 Side view of Robot

2.4.3 Physical Architecture/ Physical Structure

There are 3 vital aspects of this part; Weight, Strength, Economy. Our robot (hereinafter called
Necati) must be as light as possible in order to stay in our targeted budget. Heavier the
robot gets, much more expensive motors we will need.
Product selection is another significant point as well. Necati is divided into 2 main subsystems
and selected it`s materials in order to achieve the best weight strength economy ratio.

2.4.3.1 Pipe Framework

PVC pipes are selected to connect entire robot together. The main reason of this choice is that
PVC pipesare light and have the durability we need. Also, it is cheap and could be gathered
easily.

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 Figure 20 Upper Body Exploded View (I)

Figure 21 Upper Body Exploded View (II)

Parts Details

Item No. Part Number Description Quantity

1 270Pipe 2
2 Elbow 4
3 150Pipe 2
4 60Pipe 2
5 Pad 1
6 Joint M 2
7 Joint F 2
8 T-Joint 1
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2.4.3.2 Tank Track Body

TTB is the first part that interacts with stairs. Therefore, it is a considerable part. This
subsystem consists of 3 parts, wheels, plate and belt. TTB works as a simple pulley system.
Belt climbs stairs with rotation which is supplied by wheels and plate holds these parts as one.
Selected materials of these parts are given below/
• Plate: Aluminum
• Wheel: Rubber, Epoxy
• Belt: Rubber

Figure 22 Lower Body Exploded View

Part Details

Item No. Part Number Description Quantity

1 Aluminium Frame 1
2 B Wheel 2
3 S Wheel 4
4 Belt 2
5 DC Motor 4
6 140pipe 2
7 180pipe 2
8 Cuff 4

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2.4.3.3 Supporting Components

Apart from these subsystems there are also supporting equipment such as connections, rear
wheels etc.

Figure 23 Rear Wheel (I)

Figure 24 Rear Wheel (II)

2.4.4 Motors

DC Motors are placed into rear supporting wheels and rear TTB (Tank Truck Base) wheels. In
this placement, rear TTB wheels are main carrier of the system. Rear supporting motors will

19
help climbing and prevent possible sliding backwards.[8]
To select an optimum DC Motor, a torque calculation is needed. After finding the required
torque, DC Motor could be found on the market. Relevant amps and power values are discussed
with electronics team in order to help them select the battery.
Robot contains 7 ultrasonic sensors; 4 on the front, 1 on left, 1 on right and 1 on the back. A
gyroscope placed on top of the robot and Arduino on top as well. 4 12 Volts redactor motors
have placed; 2 on tracks and 2 on back wheels.

Figure 25 Gear-Box Motors

Our Motor Properties

• Brand: ZHENGK
• 12V 50 RPM 42mm Geared DC Motor Working Voltage Range: 12V
• Speed: 50 RPM
• Motor Diameter: 36mm
• Reducer Diameter: 42mm
• Idle Current Draw: 55mA
• Power: 7.5W
• Weight: 230gm

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 2.4.4.1 DIMENSION OF MOTOR

Figure 26 Top View of Rear-Box Motor

2.4.4.2 SPECIFICATION OF MOTOR

DC Motor Ratio 1/11.7 1/23 1/31.6 1/38.9 1/62.2 1/84.2 1/103.7 1/166 1/184.3 1/224.6 1/442
ZYTD-38S-R No 250 127 92 75 47 35 28 18 16 13 7
(12V-3000R) load(r/min)
On 210 107 78 63 40 29 24 16 14 12 6
load(r/min)
Rated Torque 1.1 2.2 2.8 3.5 5.6 7 8.5 9 12 12 12
(Kgf.cm)
ZYTD-38S-R No 430 218 160 130 81 60 48 30 27 22 11
(24V-5000R) load(r/min)
On 355 180 130 106 71 52 43 28 25 21 11
load(r/min)
Rated Torque 2 4 5 6.2 7 9 9 9 12 12 12
(Kgf.cm)

2.4.4.3 GEARBOX

Reduction L Stages Allowable

Ratio Torque
mm mN.m Kgf.cm
1/8.3 - 1/16.4 25.7 3 392 4
1/18.2 - 1/44 25.7 4 686 7
1/59 - 1/117 29.5 5 882 9
1/158 – 1/442 32.7 6 1176 12

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2.4.4.4 Basic Theoretical Calculations Variables

Fk = Traction generated by the Motor

NK= Ground Reaction Force

Fi = friction force at i-th step

Ni = Supportive force at i-th step

Equations

1-) Energy Equation

1 2𝜋𝑟 1
𝑚𝑚𝑜𝑡𝑜𝑟 ∗ = 2 𝑚𝑣 2
2 60

𝑣𝑔𝑒𝑎𝑟 = 𝑟𝑔𝑒𝑎𝑟 ∗ 𝑤𝑔𝑒𝑎𝑟

1 2 2 1 21 2 1 1
[2 𝑚1𝑣𝑔𝑒𝑎𝑟1 + 2 𝑙1𝑤𝑔𝑒𝑎𝑟1 ] + [2 𝑚2𝑣𝑔𝑒𝑎𝑟2 + 2 𝑤𝑔𝑒𝑎𝑟2 ] = [2 𝑚𝑝𝑎𝑙𝑒𝑡 𝑣𝑝𝑎𝑙𝑒𝑡 ]

Figure 27 Diagram for calculation

𝐹𝑘 − 𝑁𝑖 sin (46.6) + 𝑓𝑖 cos (46.6) = 𝑚𝑥̈

−𝑚𝑔 + 𝑁𝑖 cos (46.6) + 𝑓𝑖 sin (46.6) = 𝑚𝑦̈
−𝑚𝑔𝑝𝑐𝑜𝑠 (𝜑 + 𝛽 ) + 𝑁𝑖 [𝐿𝑐𝑜𝑠 (46.6 − 𝛽 ) + (𝑖ℎ − 𝐿𝑠𝑖𝑛(𝛽 )] + 𝑓𝑖 sin (46.6 − 𝛽 ) − 𝑚𝑥̈ 𝐺 (𝑦𝐺 + 𝑅 )
− 𝑚𝑦̈𝐺𝑥𝐺 = 𝐽𝑠𝛽̈

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2.4.4.5 Robot Stability

E0 = mg(y − GYG ) = mg(√h2 + b2 − yG )

𝜋 ℎ
𝛿 = 2 − arctan (𝑏) − arctan⁡ 𝑦𝐺 /(𝑥𝐺 − 𝑆𝑡 ⁡)

2-) 𝐸𝑡 = 𝑚𝑔(𝑦 ′′ 𝐺 − 𝑦𝐺) = 𝑚𝑔√(𝑦2 + (𝑥𝐺 − 𝑆2))*(1t-cos (𝛿))

𝐹𝑖𝑛𝑎𝑙⁡𝑆𝑡𝑎𝑏𝑖𝑙𝑖𝑡𝑦(𝐷𝑠 ) = 𝐸𝑡 /𝐸0

2.4.4.6 Lowest Torque Calculation

Figure 28 Mechanical Design

Value of lowest torque could be obtained on the stand still case of robot on the sloppy stairs.
Total torque must be qual to weight`s torque to keep the robot stationary on the stair.
To build a basic torque calculation we took our reference surface as hypotenuse of stairs. Here
is simplified version of image.

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 Figure 29 Torque Calculation Diagram

Since there will be only one type of motor for every wheel and gear, we just need to calculate
total weight’s torque and divided by 4 (Total weight is considered as 10 kg).

G*0.124 = Tmotors
12.16 = 𝑇𝑚𝑜𝑡𝑜𝑟𝑠
12.16
𝑇𝑚𝑜𝑡𝑜𝑟𝑠 = = 3.04𝑁
4

2.4.4.7 Mechanical Properties

Aluminium 6061 (Profile) [3]

(i) Chemical Composition:

Fe Si Cr Mn Mg Zn Cu Ti Other Al

0.5 0.6- 0.1 0.2-0.8 0.8-1.2 0.25 0.6- 0.1 0.15 Rest
1.0 1.1

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(ii) Physical Properties

Properties Values

Density 2.7 g/cm3

Melting Point 588°C

(iii) Mechanical Properties

Properties Values

Tensile Strength 115 MPa

Yield Strength 48 MPa

Shear Strength 83 MPa

Fatigue Strength 62 MPa

Elastic Modulus 70-80 GPa

Poisson’s Ratio 0.33

Elongation 25%

Hardness 30

(iv) Characteristic

• High hardness, good curability

• High corrosion resistance

• Good welding can be done.

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2.4.5 PVC Conveyor Belt

Polyvinyl Chloride (PVC) conveyor belts are standard belts in the food industry that can be
used for basic applications across food processing and hand. PVC has grown to become the
third most widely produced plastic, known for its durability and ease of use.[5]

Figure 30 PVC Conveyor Belt

2.4.5.1 PVC (Plasticized)

PVC (palatized) which has lower inelasticity than PVC-U is easier at applications of molding
and extruding. PVC`s is quite low compared to PVC-U in terms of temperature resistance and
resistivity to chemicals.

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2.4.5.2 Mechanical Properties

Properties Values

Density(g/cc) 1.3-1.45

Coefficient of Friction 0.4-0.5

Yield Strength (MPa) 31-60

Young’s Modulus 3380

Flexural Strength 72

Compression Strength (MPa) 65

Elongation at break 30-40%

2.4.6 U PVC (Frame)

Polyvinyl Chloride, is a low maintenance building material used UPVC, also known as
Unplasticized as a substitute for painted wood, mostly for window frames and doors. UPVC is
a cheaper alternative to expensive hardwood timber and aluminum.

It is a popular material due to its durability and it is a cost-effective option.

UPVC is proven to offer excellent performance and durability; it is long-lasting and requires
very little maintenance making it the perfect material for doors and windows. It is also
recognized for its thermal efficiency, sound insulation, and great value for money.

27
2.4.6.1 U PVC (Unplasticized)

PVC-U(unplasticized), which has great tensile stress of roughly 52 MPa at 293K, is hard and
inelastic and it has resistivity to chemicals. Normally, PVC-U could be used up to 333K,
however the real temperature is conditional on applied stress and environment.[4]

Figure 31 UPVC

28
2.4.6.1 Mechanical Properties

Properties Values
Density (g/cm3) 1.41
Tensile Strength N/mm2 52
Yield Strength N/mm2 48
Flexural Strength (N/mm2) 88
Modulus of Elasticity, (N/mm2) 3316
Hardness (Rockwell R) 115
Poisson’s ratio 0.4

2.4.6.2 Different Dimension of UPVC Frame

Different dimension of UPVC Frame are used in our project to connect the joint of Frame in
Rocker Bogie Mechanism.

Here are some dimensions used in our Rocker Bogie Mechanism:

Figure 32 UPVC Frame 1

29
Figure 32 UPVC Frame 2

Figure 33 UPVC Frame 3

Figure 34 UPVC Frame 4

30
Figure 35 UPVC Frame 5

Figure 36 UPVC Frame 6

Figure 37 UPVC Frame 7

31
2.4.7 Carbon/Epoxy Composite Rod (Wheel):

Carbon fibre reinforced composites have exceptional mechanical properties. These strong, stiff
and lightweight materials are an ideal choice for applications where lightweight & superior
performance are important, such as components for aircraft, automotive, rail and high-quality
consumer products[6]. Composite materials are produced by combining a reinforcing fibre
with a resin matrix system such as epoxy. This combination of fibre and resin provides
characteristics superior to either of the materials alone and are increasingly being used as
replacements for relatively heavy metallic materials.

Figure 38 Carbon Epoxy Composite Rod 1

Figure 39 Carbon Epoxy Composite Rod 2

32
2.4.7.1 Mechanical Properties

Properties Value

Compressive Strength - Longitudinal 800 - 1300 MPa

Compressive Strength - Transverse 50 - 250 MPa

Density 1.6 g/cm^3

Flexural modulus - Longitudinal 125 GPa

Flexural strength - Longitudinal 1200 MPa

Tensile strength - Longitudinal 1100 - 1900 MPa

Tensile strength - Transverse 50 MPa

Volume fraction of fibres 55 - 60%

Young's Modulus - Longitudinal 120 - 140 GPa

Young's Modulus - Transverse 10 GPa

2.4.8 PLA (Polylactic Acid) (For 3d printed connecting parts)

Polylactic acid (PLA) is a biodegradable thermoplastic derived from renewable resources like
corn starch or sugarcane. It's commonly used as a substitute for traditional petroleum-based
plastics in various applications, including packaging, food containers, disposable tableware,
3D printing, and biomedical implants.
PLA is preferred for its eco-friendliness and biodegradability, making it a popular choice for
industries aiming to reduce their environmental impact. It's compostable under the right
conditions, breaking down into natural compounds like carbon dioxide and water.

33
Figure 40 PLA Frame 1

Figure 41 PLA Frame 2

34
 Figure 42 PLA Frame 3

2.4.8.1 Mechanical Properties

Mechanical Nominal Value Unit Test Method
Tensile Modulus
73°F 129000 to 529000 psi ASTM D638
73°F 416000 to 519000 psi ISO 527-2
Tensile Strength
Yield, 73°F 8990 to 9040 psi ASTM D638
Yield, 73°F 2250 to 10400 psi ISO 527-2
Break, 73°F 5550 to 8420 psi ASTM D638
Break, 73°F 2000 to 10200 psi ISO 527-2
73°F 2560 to 9310 psi ASTM D638
73°F 6530 to 9430 psi ISO 527-2
Tensile Elongation
Yield, 73°F 9.8 to 10 % ASTM D638
Break, 73°F 0.50 to 19 % ASTM D638

35
 Break, 73°F 1.0 to 12 % ISO 527-2
Flexural Modulus
73°F 330000 to 652000 psi ASTM D790
73°F 44200 to 1.38E+6 psi ISO 178
Flexural Strength
73°F 8360 to 15800 psi ASTM D790
73°F 1310 to 16000 psi ISO 178
Density/Specific Gravity
-- 1.22 to 1.30 ASTM D792
73°F 1.24 to 1.25 g/cm³ ISO 1183

Note:
1 PSI = 0,00689475728 MPa

2.4.8.2 Control Algorithm:

Figure 43 Control Algorithm

36
Our distance sensors are fully connected to microcontroller. They are taking power and
sending signals to microcontroller directly. Our battery is supplying power to microprocessors
and motors via motor drivers. Also, microcontroller sends signals to drivers to control the
motors.
2.4.8.2 Interface Design

Figure 44 Block Diagram of Interface Design

37
2.4.9 Risk Management

Task Associated Severity Probability Risk Score Management of

Risk Risk
Local The Critical Low Medium (6) Components can
component components to be imported or
purchase be purchased used components
in Turkey can be found.
might not be
in stocks.
Assembly of Broken parts Critical Low Medium (6) Spare parts can
the robot and be bought-built.
components
Transporting The robot Critical Low Medium (6) Transportation of
the Robot might fall the robot can be
while it is done with some
carried and rules.
break
Soldering Short Critical Medium High (8) After soldering
every solder pad
circuits/body must be checked
burns for overflowed
solder and
soldering must be
done with
adequate
equipment.
Building of Lack of Critical Medium High (8) Different materials
which can be
the prototype manufacturing manufactured by
processes in using 3D printer
can be
university site used.

38
2.4.9.1 Risk Matrix

Figure 33 Risk Matrix Graph

2.4.9.2 Materialization
The robot could not be physically built due to the pandemic.

2.4.9.3 Evaluation

The robot, where we have made theoretical research, calculation and technical drawings, has
not come to a conclusion due to test requirements and not being built

39
 CHAPTER 3
WORKING PRINCIPLE

3.1 RF Controlled Robot

In present time almost all the people are familiar with robots. Robots plays a very important in
human Life. Robots are a machine which reduces the human efforts in heavy works in
industries, building etc. and makes life easy. In Our previous Projects we have made some
robots like line follower, DTMF controlled robot, gesture-controlled robot, computer-
controlled robot, but in this tutorial, we are to design a very interesting robot, that is RF.
controlled Robot. Interesting thing in the project is that it will run without using any
microcontroller. Here we will run it directly by RF Decoder and Motor Driver

Figure 46 Block Diagram of RF Controller

40
RF controlled robot is controlled by using Four push button placed at transmitter side. Here
we only need to push the buttons to control the robot. A transmitting device is used in your
hand which also contains a RF Transmitter and a RF Encoder. This transmitter part will transmit
command to robotso that it can do the required task like moving forward, reverse, turning left,
turning right and stop. All these tasks will perform by using four push buttons that are placed
on RF transmitter.

3.2 Component Required for RF Controlled Robot

COMPONENTS QUANTITY
DC Motor 2
HT12D 1
HT12E 1
RF Pair 1
Motor Driver L293D 1
9 Volt Battery 3
Battery Connector 3
Connecting wires -
Robot Chassis 1
7805 2
750K resistor 1
33K resistor 1
1K Resistor 1
PCB -

3.3 RF TRANSMITTER AND RECIEVER

This is a ASK Hybrid Transmitter and receiver module operates at 433Mhz frequency.

This module has a crystal stabilized oscillator for maintain accurate frequency control for best
range. There we have to need only one antenna externally for this module.

41
 Figure 47 RF Transmitter & Controller

3.3.1 RF Transmitter Features:

• Frequency Range: 433 MHz

• Output Power: 4-16dBm
• Input supply: 3 to 12 volt dc

3.3.2 RF RECIEVER FEATURES:

• Sensitivity: -105dBm
• IF Frequency: 1MHz
• Low Power Consumption
• Current 3.5 mA
• Supply voltage: 5 volts

This Module is very cost efficient where long range RF communication is required. This
module does not send data using UART communication of PC or microcontroller directly
because there is lots of noise at this frequency and its Analog technology. We can use
this module with the help of encoderand decoder ICs which extract data from the noise.
42
The range of transmitter is about 100 meters at maximum supply voltage and for 5
volt the range oftransmitter is about 50-60 meter with using a simple wire of single
code 17cm length antenna.

3.4 WORKING OF RF CONTROLLER ROBOT:

RF controlled robot move according to button pressed at Transmitter.

Button Pressed at Transmitter Moving Direction of Robot

First (1) Left
Second (2) Right
First and Second (1 & 2) Forward
Third and Fourth (3 & 4) Backward
No Button Pressed Stop

STEP 1: When we press first button (1 mention on circuit and hardware) robot start to
moving left side and moving continues until the button is released.

Figure 48 RF Controller Robot (Step 1)

43
STEP 2: When we press second button at transmitter, robot start moving in right side until
button is released.

Figure 49 RF Controller Robot (Step 2)

STEP 3: When we press first and second button at the same time, Robot start moving in
forward directionuntil push buttons are released.

Figure 50 RF Controller Robot (Step 3)

44
STEP 4: When we press third and fourth button at the same time, robot start moving in
backward direction andkeep going until push buttons are released.

Figure 51 RF Controller Robot (Step 4)

STEP 5: And when no push Button is pressed, robot stops

Figure 52 RF Controller Robot (Step 5)

45
 CHAPTER 4

RESULT
Due to Covid-19 pandemic the project did not finish as planned. The teams are worked
separately and created their own products. For the electrical and electronics engineering team
the final results can be seen at this video: https://www.youtube.com/watch?v=yyYww8ND5vU

For the mechatronics engineering side, technical drawing can be found at Appendix B.

Cost Estimation Table

Zonder Tube 3 Meters 30 TL

45° Elbow Tube 4 Pieces 15 TL
90° Elbow Tube 2 Pieces 10 TL
Tank Pallets 2 Pieces 30 TL
Wheel 2 Pieces 85 TL
Filament for 3D Printer 1 Kilogram 80 TL
Sheet Metal 2 m^2 100 TL
Arduino MEGA 2560 1 Piece 60 TL
Motor Driver (L298N) 2 Pieces 24 TL
12V 50 RPM DC Motor 4 Pieces 300 TL
with Reducer
Tech 12V 7Ah Battery 1 Piece 65 TL
Ultrasonic Distance Sensor 6 Pieces 36 TL
(HC-SR04)
Six Axis Gyroscope
1 Piece 10 TL
Accelometer Module
(MPU6050)
Breadboard 1 Piece 24 TL
Jumper Cable 40x3 Pieces 12 TL
TOTAL 881 TL

46
 CHAPTER 5

CONCLUSION

Due to Covid-19 pandemic, the teams couldn’t finish this project as planned before at Capstone
Project 4991 course. But for this reason, this project can’t be specified directly as a failure.
Teams tried to adapt the project into to the situation and created systems for required objectives
that discussed and determined with their advisors before. The electrical and electronics team
has built and tested the designed sensor array and developed the coding for the robot. For the
mechatronics side, the team has developed 3D modelling.
In the future, if the suitable environment and time occurs, teams would like to integrate the
systems intofinal product and test the project as a whole, and develop it if any faults occur.
Meanwhile working on thisproject, the major things that the teams are learnt from this project
are how to work remote and far awayfrom each other, and how to deal with extraordinary
situations, as the world is going through in 2020.Other than that, teams learnt how to work
as a team. The team members didn't stay as a team for so longbefore. Also, the team gained
experience on programing language C, SolidWorks CAD, and on project management.

47
 CHAPTER 6
REFRENCES

1. Boston Dynamics SPOT, [Online]. Available from Boston Dynamics:

https://www.bostondynamics.com/spot [Accessed: May 20, 2020]

2. NASA MARS Rovers, [Online]. Available from NASA: https://mars.nasa.gov/mer/

[Accessed: May 19, 2020]
3. 6061 Aluminium Alloy, [Online]. Available from Seykoc Aluminium:
http://seykoc.com.tr/icerik/6061?dil=tr [Accessed: May 20, 2020]

4. U-PVC Pipe, [Online]. Available from Kalde Boru:

http://kalde.com/cdn/archive/document/65/k-pvc-tk-tr-01 04 2015 web.pdf
[Accessed: May 19, 2020]
5. PVC Properties, [Online], Available from Vinidex:
https://www.vinidex.com.au/technical-resources/material-properties/pvc- properties/
[Accessed May 18, 2020]
6. Carbon / Epoxy Composite Materials – Properties, [Online]. Available from Azo Materials
https://www.azom.com/article.aspx?ArticleID=1995 [Accessed: April 29, 2020]
7. Polylactic Acid (PLA) Typical Properties, [Online]. Available from Prospector:
https://plastics.ulprospector.com/generics/34/c/t/polylacticacid-pla-properties-properties
[Accessed: April 29, 2020]
8. Motor and Reducer Properties (Model No. ZGB42REE(A6249)), [Online]. Available from
Zhengke Motor:
https://www.zhengkemotor.com/upload/file/201809/1536071578332463.pdf
9. Adafruit Library for Accelerometer (MPU6050), [Online]. Available from GitHub:
https://github.com/adafruit/Adafruit_MPU6050 [Accessed: May 29, 2020]

48
 CHAPTER 7

APPENDIX A

The sensor array on action can be seen on this video;

Click Here (YouTube Link)

The Coding of The Sensor Array:

//Assistance was obtained from the Adafruit library samples

//Libraries

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

#include Adafruit_MPU6050 mpu;

//Variables

//Variables for smoothing

float oldacc;

float avgacc;

float newacc;

//Ultrasonic sensor pins and variables

int trigPin1 = 4;

int echoPin1 = 3;

int trigPin2 = 7;

int echoPin2 = 6;

int trigPin3 = 9;

int echoPin3 = 8;

int trigPin4 = 10;

int echoPin4 = 11;

long duration1, duration2, duration3, duration4, cm1, cm2, cm3, cm4, inches1, inches2,
inches3, inches4;

//Motor driver pins

int enA = 22; //Enable pin for first motor

int in1 = 27; //control pin for first moto

int in2 = 26; //control pin for first motor

int in3 = 25; //control pin for second motor

int in4 = 24; //control pin for second motor

int enB = 23r; //Enable pin for second motor

//Motor speed value pins

int motor_speed;

int motor_speed1;

void setup(void) {

Serial.begin(115200); // To start serial consol at 115200 bit rate while (!Serial)

delay(10); // Will pause until serial console opens //Initializng the Motor Pins

pinMode(enA, OUTPUT);

pinMode(in1, OUTPUT);

pinMode(in2, OUTPUT);

pinMode(in3, OUTPUT);

pinMode(in4, OUTPUT);

pinMode(enB, OUTPUT);

//Initializing the HCSR04 Sensor Pins

pinMode(trigPin1, OUTPUT);

pinMode(echoPin1, INPUT);
pinMode(trigPin2, OUTPUT);

pinMode(echoPin2, INPUT);

pinMode(trigPin3, OUTPUT);

pinMode(echoPin3, INPUT);

pinMode(trigPin4, OUTPUT);

pinMode(echoPin4, INPUT);

Serial.println("MPU6050 test!");

// Try to initialize!

if (!mpu.begin()) {

Serial.println("Failed to find MPU6050 chip");

while (1) {

delay(10); } }

Serial.println("MPU6050 Found!");

//Calibration

mpu.setAccelerometerRange(MPU6050_RANGE_8_G);

Serial.print("Accelerometer range set to: ");

switch (mpu.getAccelerometerRange()) {

case MPU6050_RANGE_2_G:

Serial.println("+-2G");

break;

case MPU6050_RANGE_4_G:

Serial.println("+-4G");

break; \

case MPU6050_RANGE_8_G:
Serial.println("+-8G");

break;

case MPU6050_RANGE_16_G:

Serial.println("+-16G");

break;

mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

Serial.print("Filter bandwidth set to: ");

switch (mpu.getFilterBandwidth()) {

case MPU6050_BAND_260_HZ:

Serial.println("260 Hz");

break;

case MPU6050_BAND_184_HZ:

Serial.println("184 Hz

break;

case MPU6050_BAND_94_HZ:

Serial.println("94 Hz");

break;

case MPU6050_BAND_44_HZ:

Serial.println("44 Hz");

break;

case MPU6050_BAND_21_HZ:

Serial.println("21 Hz");

break;
case MPU6050_BAND_10_HZ:

Serial.println("10 Hz");

break;

case MPU6050_BAND_5_HZ:

Serial.println("5 Hz");

break;

Serial.println("");

delay(100);

void loop() {

/* Get new sensor events with the readings */

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

/* Print out the values */

/* Serial.print("Acceleration X: ");

Serial.print(a.acceleration.x);

Serial.print(", Y: ");

Serial.print(a.acceleration.y);

Serial.print(", Z: ");

Serial.print(a.acceleration.z);

Serial.println(" m/s^2"); */

//SMOOTHING PART (cycles 25 times, adds them to each other to take average) for (int
cycle = 0; cycle < 25; cycle++) {

sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);

//Calculating the angle of acceleration

float accxy = (a.acceleration.z * a.acceleration.z) + (a.acceleration.y * a.acceleration.y);

float denominator = sqrt (accxy);

float angle = atan2(a.acceleration.x, denominator); //angle is in terms of radian

float degree = angle * 180 / 3.14159265; //converting radian to degree //

Serial.println(degree);

oldacc = newacc + degree;

newacc = oldacc;

avgacc = oldacc / 25;

newacc = 0;

//Decision making part

if (avgacc > 95) {

climbing();

else if (avgacc < 80) {

climbing();

} else {

detection();

Serial.println("");

delay(10);

}
// Detecion function

void detection() {

// Set motors to 55

// For PWM maximum possible values are 0 to 255

//Robot will turn right constantly to detect the stairs

analogWrite(enA, 55);

analogWrite(enB, 55);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, LOW);

digitalWrite(in4, HIGH);

//Ultrasonics sensors’ measuring part (each one for one sensor)

// The sensor is triggered by a HIGH pulse of 10 or more microseconds.

// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:

digitalWrite(trigPin1, LOW);

delayMicroseconds(5);

digitalWrite(trigPin1, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin1, LOW);

pinMode(echoPin1, INPUT);

duration1 = pulseIn(echoPin1, HIGH);

cm1 = (duration1 / 2) / 29.1; // Divide by 29.1 or multiply by 0.0343

inches1 = (duration1 / 2) / 74; // Divide by 74 or multiply by 0.0135

digitalWrite(trigPin2, LOW);
delayMicroseconds(5);

digitalWrite(trigPin2, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin2, LOW);

pinMode(echoPin2, INPUT); duration2 = pulseIn(echoPin2, HIGH);

cm2 = (duration2 / 2) / 29.1; // Divide by 29.1 or multiply by 0.0343

inches2 = (duration2 / 2) / 74; // Divide by 74 or multiply by 0.0135

digitalWrite(trigPin3, LOW);

delayMicroseconds(5);

digitalWrite(trigPin3, HIGH);

delayMicroseconds(10);
digitalWrite(trigPin3, LOW);

pinMode(echoPin3, INPUT); duration3 = pulseIn(echoPin3, HIGH);

cm3 = (duration3 / 2) / 29.1; // Divide by 29.1 or multiply by 0.0343

inches3 = (duration3 / 2) / 74; // Divide by 74 or multiply by 0.0135

digitalWrite(trigPin4, LOW);

delayMicroseconds(5);

digitalWrite(trigPin4, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin4, LOW);

pinMode(echoPin4, INPUT);

duration4 = pulseIn(echoPin4, HIGH);

cm4 = (duration4 / 2) / 29.1; // Divide by 29.1 or multiply by 0.0343

inches4 = (duration4 / 2) / 74; // Divide by 74 or multiply by 0.0135

//Printing inches and centimeters (optional)

/*Serial.print(inches1); Serial.print("in1, ");

Serial.print(inches2);

Serial.print("in2, ");

Serial.print(inches3);

Serial.print("in3, ");

Serial.print(inches4);

Serial.print("in4, ");

Serial.print(cm1);

Serial.print("cm1 ");

Serial.print(cm2);

Serial.print("cm2 ");

Serial.print(cm3);

Serial.print("cm3 ");

Serial.print(cm4);

Serial.print("cm4 ");

Serial.println();*/

//Decision making part for if stairs found or not

Serial.print("SEARCHING");

if (cm1 == cm4 && cm3 == cm2)

{ Serial.print("Stairs found");

Serial.println("");

//Just to be sure that gyro is not zero and robot started to climbing the stairs

analogWrite(enA, 100);
analogWrite(enB, 100);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

delay(300); digitalWrite(in1, LOW);

digitalWrite(in2, LOW);

digitalWrite(in3, LOW);

digitalWrite(in4, LOW);

void climbing() {

Serial.print("CLIMBING");

analogWrite(enA, 100);

analogWrite(enB, 100);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW); }