Design of Circuitry and Programming of a Climbing Robot for MIRoC 2014 Competition

• Main Author: Ahmad Fahmi, Ahmad Faez
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi PETRONAS 2014
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/14241/1/Dissertation%202.pdf; http://utpedia.utp.edu.my/14241/
• Institution: Universiti Teknologi Petronas

The climbing robot created for this project is aimed to join the Malaysian International Robot Competition (MIRoC) 2014. Arduino microcontroller was chosen to control the movement of a climbing robot. Designing and testing of the actuator system, circuitry and programming must be done in order to produce a robot with the most efficient algorithm of movement. Servo motors are used for the actuator system of the robot. The robot faces problem when climbing when there is too much friction between the gripper of the robot and the rope to be climbed. Thus, the gripping force produced by the robot must be considered and compared with the weight of the robot. The angle of the gripper at the moment the robot is climbing also plays an important role in this. Of course, the study of kinematics with regards of the mechanisms of the robot can be really helpful in making sure the smooth movement of the robot when climbing.