BOMB DISPOSAL ROBOT USING RF Introduction

Goals and Objectives The main goal of the project is to provide safety to the bomb disposal squad by providing an extra line of defense. Objectives Provide a remote monitoring and controlling application for analysis of a suspicious packet (or bomb). Allow the user to manipulate the packet using the robotic arm. To provide visual feedback from the site of the packet. To provide a very user-friendly control application.

System statement of scope The Wireless Bomb Disposal Robot uses a control application, at the user end to control the robot remotely using Wireless technology. The bomb technician controls the robot using this application. Input from the user is transmitted serially over an RF link to the Robot, where it is received, identified and relayed to the appropriate module. The input to the system is from the user. This input is first processed at the control application, serially transmitted over a Radio Link. This input is then received at the robot and processed again. The output of the system is the processed signal to the appropriate module. This module can be a motor of the base of the robot or the robotic arm.

Block Diagrm
8-Bit Rf Transmitter 8-Bit Rf Receiver H-Bridge Clipper (DC Motor)

HBridge

Component Details

The major components used in this project are Rf Receiver and Transmitter L293d (H-Bridge) DC Motor

DC Motor 1

DC Motor 2

RF MODULE
Radio Frequency Module is an integral part of boarder security system together with a control module or unit and an antenna it is used for wireless identification. Main tasks of the RF module are to send an energizing signal via the antenna. The RF module delivers a digital data stream and a clock signal for further processing to its control unit or module. Furthermore a field strength dependent digital output is available for synchronization purposes. The RFM is tuned to resonance with the antenna by adjusting the inductance of the tuning coil at the RFM's output stage. RF Module can be categorized into two parts: Transmitter Receiver

Transmitter

This wireless data is the easiest to use, lowest cost RF link we have ever seen! Use these components to transmit position data, temperature data, even current program register values wirelessly to the receiver. These modules have up to 500 ft range in open space. The transmitter operates from 2-12V. The higher the Voltage, the greater the range - see range test data in the documents section. We have used these modules extensively and have been very impressed with their ease of use and direct interface to an MCU. The theory of operation is very simple. What the transmitter 'sees' on its data pin is what the receiver outputs on its data pin. If you can configure the UART module on a PIC, you have an instant wireless data connection. The typical range is 500ft for open area. This is an ASK transmitter module with an output of up to 8mW depending on power supply voltage. The transmitter is based on SAW resonator and accepts digital inputs, can operate from 2 to 12 Volts-DC, and makes building RF enabled products very easy.

Features:

434 MHz Transmitter Operation 500 Ft. Range - Dependent on Transmitter Power Supply 2400 or 4800bps transfer rate Low cost Extremely small and light weight

Receiver
This receiver type is good for data rates up to 4800bps and will only work with the 434MHz transmitter. Multiple 434MHz receivers can listen to one 434MHz transmitter. This wireless data is the easiest to use, lowest cost RF link we have ever seen! Use these components to transmit position data, temperature data, and even current program register values wirelessly to the receiver. These modules have up to 500 ft range in open space. The receiver is operated at 5V. We have used these modules extensively and have been very impressed with their ease of use and direct interface to an MCU. The theory of operation is very simple. What the transmitter 'sees' on its data pin is what the receiver outputs on its data pin. If you can configure the UART module on a PIC, you have an instant wireless data connection. Data rates are limited to 4800bps. The typical range is 500ft for open area. This receiver has a sensitivity of 3uV. It operates from 4.5 to 5.5 volts-DC and has digital output. The typical sensitivity is -103dbm and the typical current consumption is 3.5mA for 5V operation voltage.

Features:

434 MHz Operation 500 Ft. Range - Dependent on Transmitter Power Supply 4800 bps transfer rate Low cost Extremely small and light weight

MOTOR DRIVER (H-BRIDGE):

H-Bridge controls the direction of rotation of a DC motor here we used L293D to drive the motors .whatever signals it receives from the circuit on the basis of that it will drive the motors .Imagine an H-Bridge as an array of four switches, as shown below:

Simplified H-Bridge You can alter the states of these four switches in order to manipulate the voltage across the motor, and through that the direction of current flow and rotation of the motor. In, you can see that all the switches are open, and the motor terminals are disconnected from the circuit. This state will allow the motor to spin freely.

S1 and S4 closed If we close two of the switches, S1 and S4 as show in Fig the motor terminals are connected to the voltage supply, and a potential difference across the motor is created, which will cause the motor to begin rotating in one direction.

S2 and S3 Open Now, if we open S1 and S4 again, and close S2 and S3 as in figure 2.3, the voltage across the motor is switched around, and this will cause the motor to rotate in the opposite direction.

Figure 2.4 - Active Braking What happens if we leave S1 and S2 open while S3 and S4 are closed? The motor terminals will be short circuited. This will cause the motor to brake, and rapidly slow down.

Short Circuiting Now, what will happen if we close S1 and S3 at the same time? This will cause a short circuit from V+ to ground. This is known as "Shoot Through" The motor will not spin, and excessive current will flow through the switches, wires, and power supply. In a Mosfet H-Bridge, this can cause Mosfets and batteries to overheat and free trapped smoke, or even explode!! This is dangerous, and you should avoid short circuiting your h-bridge like this at all costs.

Here is a simple motor driver circuit using the L293D Motor driver

DC MOTOR:

A DC motor is designed to run on DC electric power. Two examples of pure DC designs are Michael Faraday's homopolar motor (which is uncommon), and the ball bearing motor, which is (so far) a novelty. By far the most common DC motor types are the brushed and brushless types, which use internal and external commutation respectively to create an oscillating AC current from the DC sourceso they are not purely DC machines in a strict sense.

Brushed DC motor
The classic DC motor design generates an oscillating current in a wound rotor, or armature, with a split ring commutator, and either a wound or permanent magnet stator. A rotor consists of one or more coils of wire wound around a core on a shaft; an electrical power source is connected to the rotor coil through the commutator and its brushes, causing current to flow in it, producing

Electromagnetism. The commutator causes the current in the coils to be switched as the rotor turns, keeping the magnetic poles of the rotor from ever fully aligning with the magnetic poles of the stator field, so that the rotor never stops (like a compass needle does) but rather keeps rotating indefinitely (as long as power is applied and is sufficient for the motor to overcome the shaft torque load and internal losses due to friction, etc.)

Many of the limitations of the classic commutator DC motor are due to the need for brushes to press against the commutator. This creates friction. At higher speeds, brushes have increasing difficulty in maintaining contact. Brushes may bounce off the irregularities in the commutator surface, creating sparks. (Sparks are also created inevitably by the brushes making and breaking circuits through the rotor coils as the brushes cross the insulating gaps between commutator sections. Depending on the commutator design, this may include the brushes shorting together adjacent sectionsand hence coil endsmomentarily while crossing the gaps. Furthermore, the inductance of the rotor coils causes the voltage across each to rise when its circuit is opened, increasing the sparking of the brushes.) This sparking limits the maximum speed of the machine, as toorapid sparking will overheat, erode, or even melt the commutator. The current density per unit area of the brushes, in combination with their resistivity, limits the output of the motor. The making and breaking of electric contact also causes electrical noise, and the sparks additionally cause RFI. Brushes eventually wear out and require replacement, and the commutator itself is subject to wear and maintenance (on larger motors) or replacement (on small motors). The commutator assembly on a large

machine is a costly element, requiring precision assembly of many parts. On small motors, the commutator is usually permanently integrated into the rotor, so replacing it usually requires replacing the whole rotor.

Large brushes are desired for a larger brush contact area to maximize motor output, but small brushes are desired for low mass to maximize the speed at which the motor can run without the brushes excessively bouncing and sparking (comparable to the problem of "valve float" in internal combustion engines). (Small brushes are also desirable for lower cost.) Stiffer brush springs can also be used to make brushes of a given mass work at a higher speed, but at the cost of greater friction losses (lower efficiency) and accelerated brush and commutator wear. Therefore, DC motor brush design entails a trade-off between output power, speed, and efficiency/wear.

Brushless DC motors
Some of the problems of the brushed DC motor are eliminated in the brushless design. In this motor, the mechanical "rotating switch" or commutator/brush gear assembly is replaced by an external electronic switch synchronized to the rotor's position. Brushless motors are typically 8590% efficient or more (higher efficiency for a brushless electric motor of up to 96.5% were reported by researchers at the Tokai University in Japan in 2009), whereas DC motors with brush gear are typically 75-80% efficient.