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Stewart Platform: Auto-Segregating Dustbin

The stewart platform is a parallel manipulator with six degrees of freedom that allows motion in any direction. It was originally used for flight simulation but is now used for applications like satellite positioning, surgery, cranes, and object stabilization. The document then describes plans to build a stewart platform using servo motors, IMU, vision sensors, and ROS for motion planning. Key challenges will be implementing the platform's kinematics and fabrication.

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85 views6 pages

Stewart Platform: Auto-Segregating Dustbin

The stewart platform is a parallel manipulator with six degrees of freedom that allows motion in any direction. It was originally used for flight simulation but is now used for applications like satellite positioning, surgery, cranes, and object stabilization. The document then describes plans to build a stewart platform using servo motors, IMU, vision sensors, and ROS for motion planning. Key challenges will be implementing the platform's kinematics and fabrication.

Uploaded by

likhit
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Stewart Platform

The stewart platform is a parallel manipulator with six degrees of freedom. A body placed on the
platform can move in any direction, and because of this, it was used for flight simulation. Now, the
stewart platform is used for many other applications such as satellite dish positioning, surgery,
cranes and object stabilization.
The movement is mainly usually done by linear actuators, however, servo/stepper motors can also
be used. Here is a general outline of the Stewart platform we plan to build:

 Main platform with servo motors as actuators

 IMU and vision sensor to control the position of the platform


 Using ROS for motion planning and integration of other features
 Mount for camera/object to be stabilized

Possible applications that the platform can be used for:


1. Camera stabilization
2. (ball bouncing thing in fancier words)
The main challenge would be to understand and implement the kinematics of the Stewart platform.
Although there are libraries available for ROS, it will be difficult to implement it with the our own
hardware. The fabrication will also be a challenge. By completing this project, we will learn about
robot kinematics practically and gain a good understanding of mechatronics while also improving
our programming skills.
Our plan is to construct a Stewart platform with a basic
stabilization feature, and look into more advanced
applications simultaneously.

Auto-segregating dustbin
The proposed idea suggests that the segregation is done for you while disposing
waste rather than having to do it manually. An example of laziness gives
you new ideas! Mechanisms will be used to open the bin automatically to

Basic block diagram


seal the smell. All the garbage falls on a platform in an intermediate
chamber between the outside environment and the final bin. Sensors present
here will determine the nature of the items based on the dielectric constant
of material. Platform can be made rotatable for the sensor to cover all items
as much as possible. The items will then be transferred to recyclable or non-
recyclable dustbins based on what it is. Various mechanisms is to be made
to coordinate the entry of both the doors and also to open and close it
accordingly. A sensor should also be placed in the final bin to check it’s
level and notify when it’s full.

Rover with Rocker-bogie system


The rocker-bogie system is a suspension arrangement which is used in NASA rovers. It is a design
that was created so that the rover always maintains contact with the ground. As the design doesn’t
require for springs, the wheels can go over much larger obstacles while other wheels still maintain
contact. The front two wheels are driven while the wheels on the rocker are not.
We plan to use the rocker-bogie system in a rover of our own design. (purpose of the rover??).

Automatic Pothole Filler


The automatic pothole filler is a mobile robot which follows a four-step process to fill potholes.
• Identification:
The most important process is to identify the shape of the pothole, this can be done with the
help of contour detecting sensors.
• Cutting/Milling:
We mill the surroundings of the pothole to remove the loose structure surrounding the pothole
and form a regular shaped slot such as a rectangle or a circle out of it.
• Cleaning:
Once the size of the pothole is determined, we need to clean the pothole with vacuum to
remove dirt and gravels.
• Filling:
This can be done in two ways:
1. Using a pre moulded slab of a particular size and placing it in the slot cut during the cutting
process.
2. By the usual method, where we spray thar and then the stones.
• Rolling:
We need to hot roll after filling for better settling of the thar in the pothole.
We can use a pinion and rack mechanism for different processes or use a 3 dof robotic arm with an end
effector capable of changing tools depending on the process.
Soft Robotics
“Nature uses soft material frequently and stiff material sparingly”, as quoted by
engineer Giada G at a recent TEDx event.
It’s better bend than broken, and keeping that in mind soft robotics field has been
vigorously growing.

Soft robotics consists of flexible actuators which are small bladders which can be
instantly filled with a fluid generally air. These can be modelled to any desired shape.
Soft robotics is an attempt to improve safety and simultaneously approach new
capabilities to execute complex tasks.

Applications
- Can be used as a gripper to hold any shaped item, as it is flexible.
- People with disabilities can use this as a support mechanism.
- Used in orthopaedic for manufacturing soles of shoes for relieving pain and to
provide comfort.

Drawbacks and challenges-


- Modelling the material to move in the desired the manner.
- Cannot withstand high loads

Remotely Operated
Underwater Vehicle
The advancement in technology has allowed the field of robotics to develop from a mere industrial
manipulator to a wide range of machines that operate on land, in air and under water. We as a team
have consider the applications of robotics under water to be a challenging yet interesting project.

Proposed underwater robot features-


- A 3or6 degree of freedom, wired robotic vehicle with a propulsion system consisting of fan
rotors to provide the necessary thrust.
- Hollow structure to provide the required buoyancy.
- a single degree of freedom arm with an end effector which can be used as a camera, sensor
or any tool depending on the application.

Applications-
- robot can be used for detecting water pollutions levels.
- can be used to tackle problems of clearing oil spill.
- clearing plastics and waste from rivers and lakes.
- deep sea wildlife photography.
- offshore oil drill repair works can be performed.
- defence purposes such as underwater surveillance.
- defusing underwater mines.

End Effector

Drawbacks-
- proposed plan is a wired robot. Hence, depth of operations is limited.
- Underwater pressure is a concerning factor

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