UNIVERSIDAD AUTONOMA DE NUEVO LEON

FACULTAD DE INGENIERIA MECANICA Y ELECTRICA

Introduction to mechatronics

FA4 – Actuators (Implementation)

Javier Kalid Flores Edgar
Matricula: 2177781

Name ID Career
IMC

Professor: Daniela Turrubiates Gutierrez

Group: 002
October/29/2024
Index
Objectives 3
Introduction 4
List of materials 5
Schematic diagram (EDA software) 6
Virtual prototype 7
Physical prototype 8
Conclusions 9
References 10

2
Objectives

The main objective of this project is to successfully create a line-following robot by applying
knowledge in mechanics, electronics and/or software that can autonomously detect and follow
a trajectory marked on the ground in the shortest possible time. Other secondary objectives
include:

• Create a robot that can accurately follow a drawn line on a variety of surfaces, including
regular and irregular curves.

• Maximize robot speed while maintaining stability and line tracking accuracy.

• Ensure stable operation with sensors that adapt to changes in light and environment and
perform consistently regardless of external factors.

• Controls up to two DC motors with a 48:1 ratio and uses H-bridge motor control for precise
motion.

• Efficiently manage power consumption by using two 9V non-rechargeable batteries, one

of which powers the motor while the other powers the controller.

• Create a lightweight, compact chassis that accommodates all components while

maintaining stability during operation.

• Perform extensive testing to fine-tune sensors and control algorithms for optimal running
performance.

• Specifically talking about the actuators, they would generate force/motion according to
the input signal provided to it, hence converting energy into mechanical movement.

3
Introduction

A line-following robot is an autonomous mobile device designed to navigate along a predefined

path, typically indicated by a contrasting line on the ground. These robots are utilized in various
applications, including industrial automation, warehouse management, and educational projects.
They serve as valuable tools for learning about sensors, programming, and control systems.

The fundamental function of a line follower lies in its ability to gather information from sensors to
determine its next move and adjust its position accordingly. Operating on a closed-loop control
system, the robot's DC motor receives feedback on whether it is adhering to the track. It employs
infrared or optical sensors that create a difference map between the line and the background.
When the robot strays from its intended path, these sensors send real-time signals to a
microcontroller.

The microcontroller processes these inputs using programmed algorithms and sends commands
to the actuators, primarily motors, to correct its trajectory. The actuator is crucial as it converts
input signals into mechanical movement. In this project, motoreductors will be used as actuators;
they consist of a motor paired with a gearbox to reduce speed and increase torque. This
configuration allows for precise control, enabling the robot to navigate various terrains and
obstacles while maintaining stability.

The integration of these components like sensor detection, microcontroller processing, and
motoreductor locomotion illustrates how simple engineering principles can lead to sophisticated
autonomous behavior. Line-following robots exemplify exciting opportunities in robotics and
automation, enhancing educational experiences and improving operational efficiency across
different sectors.

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List of materials

• Chassis components:
- Base platform (made of lightweight materials, which can be acrylic or
plastic).
- Yellow rims (65mm diameter with a tolerance of ±3mm).

• Motors:
- 2 hobby gear motors (model specific details as required): The two DC
motors drive the wheels of the robot, providing movement. Their speed and
direction can be controlled based on sensor input processed by the Arduino.

• Sensors:
- 5 IR sensors (for line detection): Are essential for detecting the line that the
robot is intended to follow. They work by emitting infrared light, which
reflects off the surface below and returns to the sensor. This allows the robot
to differentiate between the line and the surrounding area based on the
intensity of the reflected light.

• Microcontroller
- Arduino UNO R3: serves as the brain of your robot. It processes input from
the IR sensors and controls the motors based on this data. Its
programmability allows for complex decision-making algorithms that can
optimize performance.

• Power supply:
- 1 9V non-rechargeable battery (to power the motor): Provides the
necessary power to both the microcontroller and motors. A reliable power
source is critical for consistent performance; insufficient power can lead to
sluggish movement or erratic behavior
- 1 5V regulator (to power the Arduino and sensors): Ensures that the Arduino
receives a stable voltage supply, which is essential for its operation.
Irregular voltage can cause malfunctions or resets, disrupting control over
the robot.

• Motor driver:
- H-Bridge motor driver (L293D): Regulates power to the DC motors, allowing
for precise control over speed and direction. It acts as an interface between
the microcontroller and motors, enabling smooth operation

• Miscellaneous components:
- Protoboards for circuit assembly
- Connection Cables
- Mounting and fixing components.
5
Schematic diagram (EDA software)

6
Virtual prototype

7
Physical prototype

8
Conclusions

Developing a line-following robot that can navigate diverse paths and adapt to changing
environmental conditions is an exciting engineering challenge. By integrating a microcontroller,
we enable the robot to process real-time data from sensors, ensuring precise adjustments to
maintain its trajectory.

Our focus on power management with non-rechargeable 9V batteries ensures efficient

operation, minimizing interruptions and maintaining consistent performance. As we refine our
design through testing, this project not only introduces us to robotics but also cultivates essential
skills like problem-solving and teamwork.

Ultimately, this endeavor highlights the principles of innovation and adaptability in modern
robotics, aiming to create a machine that exceeds expectations in traversing complex paths
under various conditions.

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References

• RAYPCB. (n.d.). *Exploring the world of line-following robots*. Retrieved from

https://www.raypcb.com/line-following-robot/
• Elprocus. (n.d.). *Line follower robots – controlling, working principle and applications*.
Retrieved from https://www.elprocus.com/line-follower-robot-basics-controlling/
• MATLAB & Simulink. (n.d.). *Line follower application for Arduino robot*. Retrieved from
https://es.mathworks.com/help/simulink/supportpkg/arduino_ref/arduino-robot-line-
follower-application.html
• OASK Publishers. (2023). *Principle operation of a line follower robot*. Retrieved from
https://www.oaskpublishers.com/assets/article-pdf/principle-operation-of-a-line-follower-
robot.pdf
• International Journal of Applied Engineering Research. (2019). *Line follower using
Arduino and its applications*. Retrieved from
https://www.ripublication.com/ijaerspl2019/ijaerv14n13spl_21.pdf

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