Project Report OF Spider Robot

PROJECT REPORT
6th Semester
Submitted To:
Sir Jamshed Usman
Sir Nafees ur Rehman
Prepared By:
HAFIZ ABDUL SABOOR UPPAL
IRFAN AHMAD
IRAJ KAINAT
MECHATRONICS Engineering Department,

Wah Engineering College,
University of Wah, Wah Cantt.
Wah Engineering College,

University of Wah
Department of Mechatronics Engineering
ACKNOWLEDGEMENT
In performing our assignment, we had to take the help and guideline of
some respected persons, who deserve our greatest gratitude. The completion
of this assignment gives us much Pleasure. We would like to show our
i|Page
gratitude to Sir Jamshed Usman and Sir Nafees ur Rehman , for giving us a
good guideline for assignment throughout numerous consultations. I would
also like to expand our deepest gratitude to all those who have directly and
indirectly guided us for making this project.
HARDWARE DESIGN
CONTENTS :
ii | P a g e
1. Description
2. Component:
2.1) Servo Motors:
Types:
2.2) STMcubeMX software:

2.3)Keil IDE software:
 PWM
 Clock Configuration:
 TIMER2:
2.4 CHASSIS of Balsa Wood:
 Applications:
2.5 LM1117 Regulator IC
2.6) BATTERY
2.7) LM2596 IC
2.8) CODE
2.9) HARDWARE
SPIDER QUADRUPTED-ROBOT
1 Description:
As its name defines it, our robot is a basic representation of the
spider movements but it will not perform exactly the same body moves since we are using
only four legs instead of eight legs.
iii | P a g e
Named also a Quadruped robot since it has four legs and make its
movements using these legs, the movement of each leg is related to the other legs in order
to identify the robot body position and also to control the robot body balance.
Legged robots handle terrain better than their wheeled counterparts and move in varied
and animalistic ways. However, this makes legged robots more complicated, and less
accessible to many makers. and also the making cost and the high depends that a maker
should spend in order to create a full body quadruped since it is based on servo motors or
stepper motors and both are more expensive than DC motors that could be used in
wheeled robots.
1 Component:
1.1 RC Servo Motors:
An RC servomotor is a rotary actuator or linear actuator that allows for

precise control of angular or linear position, velocity and acceleration. It consists of a
suitable motor coupled to a sensor for position feedback. It also requires a relatively
sophisticated controller, often a dedicated module designed specifically for use with
servomotors.
Servomotors are not a specific class of motor although the term servomotor is often used
to refer to a motor suitable for use in a closed-loop control system.
Servomotors are used in applications such as robotics, CNC machinery or automated
manufacturing.Positional rotation servo, is the most common type of servo motor. The
output shaft rotates in about half of a circle, or 180 degrees
iv | P a g e
FORMULA:-
For half revolution:
5/180=0.0278% // 5% @ zero degree
Formula =5+angle 0.0287 = compare reg. value
=> 1000= counter register value

=> 4096 is the maximum ADC value at 3.3V
=>CLK-IN=16MHz. and PWM freq=50Hz
1.2 STMcubeMX software:

 STM32CubeMX is part of STMicroelectronics STMCube original initiative to
make developers’ lives easier by reducing development effort, time and
cost. STM32Cube covers the whole STM32 portfolio.STM32Cube includes
STM32CubeMX, a graphical software configuration tool that allows the
generation of C initialization code using graphical wizards. These packages
include the STM32Cube HAL (an STM32 abstraction layer embedded
software ensuring maximized portability across the STM32 portfolio), the
STM32Cube LL (low-layer APIs, a fast, light-weight, expert-oriented layer),
plus a consistent set of middleware components such as RTOS, USB, TCP/IP
and graphics.
 Memories RAM ROM
 64 or 128 Kbytes of Flash memory
 20 Kbytes of SRAM
 Clock, reset and supply management
 2.0 to 3.6 V application supply and I/Os
 POR, PDR, and programmable voltage detector (PVD)
v|Page
 4-to-16 MHz crystal oscillator
 Internal 8 MHz factory-trimmed RC
 Internal 40 kHz RC
 PLL for CPU clock
 32 kHz oscillator for RTC with calibration
 Low-power
 Sleep, Stop and Standby modes
 x 12-bit, 1 μs A/D converters (up to 16 channels)

 Conversion range: 0 to 3.6 V
 Dual-sample and hold capability
 Temperature sensor
2.3 Keil IDE software:

Keil MDk is the complete software development environment for a wide range of
Arm Cortex-M based microcontroller devices. MDK includes the µVision
IDE and debugger, Arm C/C++ compiler, and essential middleware components. It
supports all silicon vendors with over 4000 devices and is easy to learn and use.
1.3 PWM
Pulse Width Modulation, or PWM, is a technique for getting analog results with digital
means. Digital control is used to create a square wave, a signal switched between on and
off.
vi | P a g e
Note:
 Compare register generate 4PWM through channels @ same time with same
frequency.
 Compare reg<period register
 Prescalar & period reg(0-65535)
FORMULA:
Overflow/sec= CLK-IN / (internal clock)*(prescalar+1)*(period reg +1)
Clock Configuration:
TIMER2:
It’s a general purpose timer they consist of a 16-bit auto-reload counter driven
by a programmable prescaler. Measuring the pulse lengths of input signals (input
capture) Generating output waveforms (output compare, PWM) Pulse lengths and
vii | P a g e
waveform periods can be modulated from a few microseconds to several milliseconds
using the timer prescaler and the RCC clock controller prescalers.
Up to 4 independent channels for:
• Input Capture
• Output Compare
• PWM generation (Edge and Center-aligned Mode)
• One-pulse mode output

16-bit up, down, up/down auto-reload counter 16-bit programmable prescaler
allowing dividing (also “on the fly”) the counter clock frequency either by any factor
between 1 and 65535.
1.4 CHASSIS of a Balsa Wood:

Balsa is the lightest and softest timber used commercially. It exhibits
an unusually high degree of buoyancy and provides very efficient insulation against heat and
sound. It is a short lived fast growing tree. . Trees grow to 21m high and diameter of
approximately 0.5m within seven years, reach maturity in 12-15 years after which they
deteriorate with increases in density and density range for balsa the species has been planted
successfully in Papua New Guinea, Malaysia, Fiji, and Indonesia.
Applications:
It’s used in Ship and boat building, sporting goods, musical instruments,
block board, toys and novelties, turnery, surf boards, model making.
1.5 LM1117 Regulator IC
viii | P a g e
1.6 Battery:
 Model: TR 18650
Standard voltage: 3.7V
Rated Capacity:8800mAh
Diameter: approx 18mm
Height: approx 65mm
NOTE: After testing the capacity of this cell, we found that real capacity of each cell is
2000mah instead of 8800mah which is labelled on it.
1.7 LM2596 DC-DC buck converter

This is an LM2596 DC-DC buck converter step-down power module with a high-
precision potentiometer for adjusting output voltage, capable of driving a load up to
3A with high efficiency. When the output current required is greater than 2.5A(10W)
ix | P a g e
1.8 Code:
x|Page
xi | P a g e
xii | P a g e
2.8 Hardware:
xiii | P a g e

Project Report OF Spider Robot

Uploaded by

Copyright:

Available Formats

Project Report OF Spider Robot

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Project Report OF Spider Robot

Uploaded by

Copyright:

Available Formats

PROJECT REPORT

MECHATRONICS Engineering Department,

Wah Engineering College,

Department of Mechatronics Engineering

2.2) STMcubeMX software:

2.5 LM1117 Regulator IC

An RC servomotor is a rotary actuator or linear actuator that allows for

For half revolution:

5/180=0.0278% // 5% @ zero degree

Formula =5+angle 0.0287 = compare reg. value

=> 1000= counter register value

1.2 STMcubeMX software:

 x 12-bit, 1 μs A/D converters (up to 16 channels)

2.3 Keil IDE software:

Up to 4 independent channels for:

• PWM generation (Edge and Center-aligned Mode)

• One-pulse mode output

1.4 CHASSIS of a Balsa Wood:

1.5 LM1117 Regulator IC

1.7 LM2596 DC-DC buck converter

You might also like