SMURF-IV

built by Younes Maia Younes

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Target Environment Locomotion Method
Outdoors, level terrain 4 Wheels
Sensors / Input Devices Actuators / Output Devices
2 Color Video Cameras
Sharp GP2D12 IR sensor
Speech recognition sensor
CMUcam
National LM35 temp sensor
ADXL250 2-axis accelerometer
Abacom 433MHz transceiver
Dinsmore Digital Compass
4 Hsiang-Neng motors
4 Kornylak 2580 omni-wheels
OWI-007 Robotic arm
Control Method Power Source
Radio/Control Battery
CPU Type Operating System
PIC Microcontroller None on robots, Windows on controller
Programming Lanuage Weight
BASIC 5kg
Time to build Cost to build
1 year approximately $1000 USD
URL for more information
http://www.maristasantana.com.br/smurf/
Comments
The SMURF-IV robot It is primarily designed for surveillance purposes. The system can be controlled through the internet, allowing it´s operator to monitor a site from anywhere on the world.

This is the fourth robot that our team built at Marista Sant´Ana School, in Uruguaiana - Brazil. The team members include Eduardo José Bruxel de Sá, Fernando Bruxel de Sá, Lucas Dias da Silva Predebon, Luiza Sanchotene Ceolin, Raquel Forgiarini Saldanha and Younes Maia Younes.

We implemented a holonomic drive-train, capable of moving the platform in any direction (even in diagonals) without changing the orientation of the wheels. The motors are controlled independently by 4 National LMD18200T MOSFET H-Bridges. The robot is controlled by a MSWlogo GUI running on a windows PC. Radio link range is 150m. The voice recognition system allows 3 different operators to control the system using their speech. Accuracy is about 95%.

The robotic arm allows moving small objects (the arm claw opens to 5cm). The maximum lifting capacity is 500 grams. We designed our own board to control all 5 motors present on the manipulator. A CMUcam allows the system to track objects by their color. The robotic arm is capable of picking up these objects automatically. A 16x2 character LCD display system information.

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