IOT Based Home Automation System

Project Title

IOT Based Home Automation System

Project Area of Specialization RoboticsProject Summary

In the world of the advance technology the field of Robotic systems encompasses everything to do with the design, engineering, programming, testing and development of robots, human robots, and collaborative robots to help humans perform daily activities.This is a scribing robot we are proposing. It uses 2 accurate stepper motors for elbow and shoulder. The wrist is made with a simple servo. The robot can use 2 tools : one pen and one eraser at the opposite of the pen. The robot writes from ASCII files..The robot we will design will be controlled by the bluetooth.

Project Objectives

At the completion of the Project we  aim to complete the following:

1. Used for writing any kind of text

2. Easily erases the text 

 

Project Implementation Method

The operation requires the following major fields to carry out several different processes :

1. Mechanics

2.Electronics

3. Pictures

.Mechanics:

The 2 main articulations (shoulder and elbow) are equipped with stepper motors. The transmission uses toothed belts and their pulleys. 

These 2 articulations are very rigid. They are made with 3mm aluminium sheet, and braces made with cylindrical aluminium sections. 

The articulations use ball bearing, exactly the same than these used on Lynxmotion articulations : 3mm inside and 8mm outside. 

The gear ratio is 4.4 for both elbow and shoulder : 10 teeth on motor side, and 44 teeth on articulation side. The 2 motors are at fixed position, on the elbow. The goal is to limit inertia of the arm. Stepper motors are quite heavy compared to their torque. 

To achieve this, the motor for the elbow is located on the axe of the shoulder. Therefore, the distance between shoulder and elbow articulations is determined by standard toothed belt lengths. All the dimensions are deduced from that. 

Each of the 2 articulations (shoulder and elbow) allows more than 270° of travel. Therefore, we can reverse the shoulder like most SCARA robots. The goal is to use 2 different tools (pen and eraser) at each end of the pen and reach all the working area with these 2 tools.  

The forearm and the wrist is made with lighter pieces, from Lynxmotion. 
We can tolerate more flexibility for these parts. And this part of the arm contributes a lot to inertia; therefore, we want to have lighter pieces. 

The length of the forearm and the arm is exactly the same. For forearm, this length is the distance between elbow and tool. This greatly simplifies the reverse kinematics. Warning, the length of the forearm is measured between the elbow and the pen tip (not between elbow and wrist). 

Electronics:

The electronic part of this project is quite simple.

• One Mbed microcontroller board, with LPC1789 (ARM Cortex M3)
• 2 x stepper motor controller boards “easy driver” from Sparkfun, equipped with A3967
• A 5V switching regulator (for both wrist servo and microcontroller)
• One potentiometer which value is read by microcontroller. The user can tune the movement speed with it.
• One servo output for the wrist (servo signal is directly generated by GPIO from Mbed)
• 2 digital inputs for the end-stroke micro switch (needed because stepper motors do not know their absolute position).

Code:

Code is Simple of C++ language.

Further Modification:

I move this robot in specific area Using APP development.

Benefits of the Project

Benefits:

1.Easy to Manufacture

2.Inexpensive than other Mechanisims

3.With the help this robot, We can easily write any text of fix font on paper or Board.

Technical Details of Final Deliverable

After implementation, The last thing is to deliver the project.. I deliver the following things:

1.Complete Hardware

2.Full Source Code 

3.Implemented APP

4.Final Project Report

Final Deliverable of the Project Hardware SystemType of Industry IT , Manufacturing , Others Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	80000
Microcontrollers	Equipment	5	1200	6000
Stepper Motors	Equipment	9	1600	14400
Regulator, Switching	Equipment	2	800	1600
Electronics Components	Equipment	1	20000	20000
Batteries	Equipment	2	4000	8000
Hardware	Equipment	1	20000	20000
Stationary	Miscellaneous	1	5000	5000
Printing supplies	Miscellaneous	1	5000	5000