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BTECH-MECHANICAL ENGINEERING
COURSE:ROBOTICS
CODE:MEE1030 SLOT: D1
FACULTY:PROF.AROCKIA SELVA KUMAR

PROJECT REPORT
DONE BY: LEADER: NAVEEN .S 17BME1024
1. ABHISHEK 17BME1097

2. AJAY.G 17BME1134

3. ANIRUDH.V 17BME1030

4. CHANDRASEKKARAN.V.R 17BME1232

5. HARISH.P 17BME1012

6. RAGUL HARI.S 17BME1039

7. SENDHIL KUMAR.R 17BME1143

8. SHARAN.V 17BME1096

9. SIVANADIAN.N 17BME1192

10 SIDHARTH.B.S 17BME1201

11. REDDY RAJESH 17BME1004

RESPECTED SIR
We are pleased to submit our PROJECT REPORT on topic on Line follower BOT
to you. We have tried our best to come up to your mark by providing a useful
library bot. We are thankful to you for giving us an opportunity to study,
analyse and enhance our knowledge.

A work is never a work of a person. We owe a feeling of appreciation to the

knowledge and co-activity of those individuals who had been so natural to
give us a chance to comprehend what we required every now and then for
finish of this restrictive undertaking. Last yet not the slightest We want to
forward our appreciation to every one of the general population who
dependably continued us and remained by our side and without whom we
couldn't have been imagined the fruition of our project.

REGARDS, The TEAM

ROBOTICS PROJECT REPORT
Line follower Robot(Autonomous)

1. Introduction
2. Component
3. Working Principle
4. Block Diagram
5. Application
6. Advantages and Disadvantages
7. Programming on Arduino
Introduction:
The line Following Robot detects a black line on a white surface and moves
forward following line. If a black line is not detected, the line following robot
moves forward for searching for a black line to follow. Once the line following
robot detects a black line, it will begin following the black line. Sensing a line
and maneuvering the robot to stay on course, while constantly correcting
wrong moves using feedback mechanism forms a simple yet effective closed
loop system.

Components
i. Arduino UNO R3
ii. Motors Driver IC L293D
iii. IR sensor x 3
iv. Motors 200 RPM x 2
v. Power bank and 9v battery
vi. Wires
vii. Jumper
viii. Wheels x 2,Tractor wheels *2
ix. Steel CHASSIS
  Arduino

Arduino is an open-source computer hardware and software company, project

and user community that designs and manufactures microcontroller based
kits for building digital devices and interactive objects that can sense and
control objects in the physical world .

 IR Sensor

A passive infrared sensor (PIR sensor) is an electronic sensor that

measures infrared (IR) light radiating from Objects in its field of view. They
are most often used in PIR-based motion detectors.

 L293d Motor Driver

This driver allows you to control the speed and direction of two DC motors, or
control one bipolar stepper motor with ease. Motors The motors
rotateclockwise and anti-clockwise based on theprogram. In the motor
electrical energy is converted into mechanical energy.

Working Principle

❖ The IR sensor detects the light emitted by the transmitter, if the receiver
absorbs light (black colour absorbs the light and thus no light is reflected so
receiver cannot receive any light), the wheel of that side will keep on moving, as
soon as the receiver receiving the light the wheel of that side will stop.

❖ For turning ,the robot stops 1 motor and runs the second to make the
turn possible.

❖ For example :

If the robot has to turn right then the motor on right side will stop and
left motor will keep on running and thus allowing the robot to turn.
1.When both left and right sensor senses white then robot move forward.

2.If left sensor comes on black line, then robot turn left side.

3.If right sensor sense black line, then robot

4. If both sensors come on black line, robot stops.

Motor Logic

Code:
int m2=2;//LEFT WHEEL
int m3=3;//LEFT WHEEL
int m4=4;//RIGHT WHEEL
int m5=5;//RIGHT WHEEL
int L=8; //LEFT SENSOR
int M=9;//MIDDLE SENSOR
int R=10;//RIGHT SENSOR
void setup() {
// put your setup code here, to run
once: digitalWrite(m2,OUTPUT);
digitalWrite(m3,OUTPUT);
digitalWrite(m4,OUTPUT);
digitalWrite(m5,OUTPUT);
digitalWrite(L,INPUT);
digitalWrite(M,INPUT);
digitalWrite(R,INPUT);
digitalWrite(m2,LOW);
digitalWrite(m3,LOW);
digitalWrite(m4,LOW);
digitalWrite(m5,LOW);
}
void loop() {
// put your main code here, to run repeatedly:
if(digitalRead(L)==LOW && digitalRead(M)==HIGH && digitalRead(R)==LOW) //MOVE
FORWARD
{
digitalWrite(m2,HIGH);
digitalWrite(m3,LOW);
digitalWrite(m4,HIGH);
digitalWrite(m5,LOW);
}
if(digitalRead(L)==LOW && digitalRead(M)==HIGH && digitalRead(R)==HIGH) //RIGHT
TURN
{
digitalWrite(m2,HIGH);
digitalWrite(m3,LOW);
digitalWrite(m4,LOW);
digitalWrite(m5,LOW);
}

if(digitalRead(L)==HIGH && digitalRead(M)==HIGH && digitalRead(R)==LOW) //LEFT

TURN
{
digitalWrite(m2,LOW);
digitalWrite(m3,LOW);
digitalWrite(m4,HIGH);
digitalWrite(m5,LOW);
}

if(digitalRead(L)==HIGH && digitalRead(M)==HIGH && digitalRead(R)==HIGH) //LEFT

TURN(as discussed)
{
digitalWrite(m2,LOW);
digitalWrite(m3,HIGH);
digitalWrite(m4,HIGH);
digitalWrite(m5,LOW);
}

if(digitalRead(L)==LOW && digitalRead(M)==LOW && digitalRead(R)==LOW) //ABOUT

TURN
{
 digitalWrite(m2,LOW);
digitalWrite(m3,HIGH);
digitalWrite(m4,HIGH);
digitalWrite(m5,LOW);
}
if(digitalRead(L)==HIGH && digitalRead(M)==LOW && digitalRead(R)==LOW) //left TURN
{
digitalWrite(m2,LOW);
digitalWrite(m3,HIGH);
digitalWrite(m4,HIGH);
digitalWrite(m5,LOW);
}
if(digitalRead(L)==LOW && digitalRead(M)==LOW && digitalRead(R)==HIGH) //rightt TURN
{
digitalWrite(m2,HIGH);
digitalWrite(m3,LOW);
digitalWrite(m4,LOW);
digitalWrite(m5,HIGH);
}
}

Applications:
1. Industrial automated carriers
2. Automated cars
3. Deliver medications in hospital,etc

Advantages:
1. Robot must be capable of following a line
2. Insensitive to environmental factors
3. Should be capable of taking various degrees
4. Color of line must not be a factor as long as it is darker than the surroundings.

Disadvantages:

  LFR can only move on fixed track or path

  It requires power supply
 Lack of speed control makes the robot unstable

Conclusions:
The main aim of the project is to move on a single line without any disturbance in its path and pick
up objects such as books and place try to place it in the desired position. This bot had many
obstacles to face as we were working with IR sensor. This team was well led by our team leader
allotting us the right task at the right time. We are planning to develop the robot by adding lifting
mechanism which is mainly used for library applications.
 Team member’s contribution:

1) Sendhil:
I and few others were assigned to work on the electrical connections of the robot by the team
leader. The simple connections from the robot to the aurdino and the motor driver were taken
care by use with the help of the other guys who were handling coding. The connections from the
motor driver had the below mentioned specifications.
Motor driver:
A motor driver is an integrated circuit chip which is usually used to control motors in autonomous
robots. Motor driver act as an interface between Arduino and the motors.
The L293D is a 16 pin IC, with eight pins, on each side, dedicated to the controlling of a motor. There
are 2 INPUT pins, 2 OUTPUT pins and 1 ENABLE pin for each motor. L293D consist of two H-bridge.
H-bridge is the simplest circuit for controlling a low current rated motor.

Pin No. - Pin Characteristics

 1 - Enable 1-2, when this is HIGH the left part of the IC will work and when it is low the left part
won’t work.
 2 - INPUT 1, when this pin is HIGH the current will flow though output 1
 3 - OUTPUT 1, this pin should be connected to one of the terminal of motor
 4,5 - GND, ground pins
 6 - OUTPUT 2, this pin should be connected to one of the terminal of motor
 7 - INPUT 2, when this pin is HIGH the current will flow though output 2
 8 - VCC2, this is the voltage which will be supplied to the motor.
 16 - VCC1, this is the power source to the IC. So, this pin should be supplied with 5 V
 15 - INPUT 4, when this pin is HIGH the current will flow though output 4
 14 - OUTPUT 4, this pin should be connected to one of the terminal of motor
 13,12 - GND, ground pins
 11 - OUTPUT 3, this pin should be connected to one of the terminal of motor
 10 - INPUT 3, when this pin is HIGH the current will flow though output 3
 9 - Enable 3-4, when this is HIGH the right part of the IC will work and when it is low the right part
won’t work.

Electrical connections layout:

Right
Motor

Left
Motor
 2)Ragul hari:
1) Motion mechanism
Our project was basically a four wheel drive, where all the four wheels were
connected to four motor.

My ideas about this project were to make it as two wheel drive.

I my idea the car would run with 2 motors. Where one motor will help the bot to move and
another will help the bot to direct.

 Motion of the car

o The motion of the car is controlled by rear wheel with one motor attached. In the
previous model the motion of the bot is controlled by all the wheel and all the
motors. Now the motion is controlled by two wheel and one motor.

o The mechanism which we are going to use to run the bot is applied in the many rear
wheeled cars and trucks.

o It those types of cars and trucks there will be an axel from the engine which then
use to connect to a single gear of different orientation ,

o Both the end of gears are connected to a horizontal rod which is then connected to
wheel, Same mechanisms applies in our project but there won’t be any axel.

o The motor will be placed parallel to the wheels and the tooth of the gear is
connected to the gear of the speed which we required, then there will be horizontal
rod on both sides which connects the wheels.

o Now if the motor rotates the tooth of the motor will rotate the gear of eventually
the wheel rotates. The speed of the motor can be controlled by coding.
o
o At turning the speed should be minimum and at the straight path speed should be
maximum. This can be sensed by the sensors and as pre the sensors reading the
power is controlled by the Arduino and code.

The model which we are going to do is similar to this picture.

 Lifting mechanism
 The lifting mechanism is very simple, it follows the principle of car’s jack

 Our projects lifting mechanism works as the car’s jack works. There will be one motor which
is used to connect the zig zag connection of the steel,
 if the object want to be placed above then the motor should rotate in clockwise so that the
zig zag steel get pressed so it leads to upward linear motion.
 If the object should be placed in lower rack then the motor should rotate in anti-clockwise
so that there will be no pressing force so automatically the zig zag steel will get down
 3) Ajay :
 Since I’m under coding department and my job was to code for the working of pick
and place.
 This is basically depending upon the Ultrasonic sensor’s output whether its high or
low the gripper has to open and close.
 When the Ultrasonic sensor gives an output high that means the object is in front for
the application.
 Then make the gripper open and there take the object and hold it and follow the line
follower mechanism to go to the rack. Now place it on the rack.
 If the output given by the ultrasonic sensor is low, then the object is not in front
that means the bot has to still move to reach the object.
 Touch sensor is used here for the object verification i.e. the object which is being
picked is whether the correct object or not is determined the output of the sensor.

Genralised Code for the Ultrasonic sensor based on which the gripper is actuated:
const int pingPin = 7; // Trigger Pin of Ultrasonic Sensor
const int echoPin = 6; // Echo Pin of Ultrasonic Sensor
void setup()
{
Serial.begin(9600); // Starting Serial Terminal
}
void loop()
{
long duration, inches, cm;
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(10);
digitalWrite(pingPin, LOW);
pinMode(echoPin, INPUT);
delay(100);
}
4) Sivanadian:
I belong to the electrical department and I searched for the components required:
• Arduino UNO (or Arduino Nano)
• L293D Motor Driver IC
• Geared Motors x 2
• Robot Chassis
• IR Sensor Module x 2
• Black Tape (Electrical Insulation Tape)
• Connecting Wires
• Power supply ( Battery and Power Bank)

The components were bought and the connections were done. As I belong to the electrical department
here I suggested for the use of microcontrollers as later it was changed to Arduino. And as this is a
self guided automatic veichle is how we have programmed so this dint demand any remote controller
so there were no use of any antenna or receiver or any integrated circuits for the remote controller.

Specifications: Payload=1kg,Weight=2kg(approx),Material= Only Mild Steel,Degree Of Freedom=6.

 5) Anirudh:
Algorithm:
The lifting mechanism logic proceeds according to my idea. The algorithm of the process is
split up into the following steps:
 Start the program.
 Set the lifting mechanism motor to either ‘HIGH’ or ‘LOW’ according to the need. ‘HIGH’
means motor will make the mechanism go up and ‘LOW’ means the motor will make it come
down.
 Also connect the motor to a piston arrangement. ‘HIGH’ means piston will go up and ‘LOW’
means piston will come down.
 When the robot reaches the rack, lift the mechanism to highest allowed rack height by setting
motor at ‘HIGH’.
 Then set piston motor to ‘HIGH’ and make it come up to the same level as that of the lifting
mechanism. Then, make the piston push in forward direction such that the book on the lift is
pushed onto the rack.
 Make a delay of 60-75 seconds, then reduce speed of motor using PWM in Arduino and bring
down the height of both the piston and lifting mechanism.
 This new height now aligns to the second row of the rack. The same process is now repeated
for one more height and then the process is completed using an integrated loop command via
Arduino.
 Terminate the loop after all the books are placed .
 Terminate the program.

6) Harish:

1) How only one motor will turn the bot?

This is also base on car and trucks, as in cars and trucks the steering turns the vehicle, in this
case motor will turn the bot.

The mechanism is very simple , it requires one servo motor, one c rack, 2 wheels and one
connecting rod. C rack will perform the same mechanism as of straight rack, rack’s main
purpose is to convert the rotary motion into linear motion, here in this case the purpose of c
rack is to convert the rotary motion into turning motion. The motor Is connected to the c rack ,
then the c rack is connected to the horizontal bar by a vertical bar. The wheels are connected to
the horizontal bar. Now if the bot want to turn right side then the motor should rotate in anti-
clockwise. So if it wants to turn left side then the motor
7)
should
8) rotate in clockwise. The rotating angle can be controlled by code and Arduino.

The turning mechanism

 2) Lifting mechanism:
The lifting mechanism is very simple, it follows the principle of car’s jack

Our projects lifting mechanism works as the car’s jack works. There will be one motor which is
used to connect the zig zag connection of the steel, if the object want to be placed above then
the motor should rotate in clockwise so that the zig zag steel get pressed so it leads to upward
linear motion. If the object should be placed in lower rack then the motor should rotate in anti
clockwise so that there will be no pressing force so automatically the zig zag steel will get down.

7) Naveen:
I started my research on what we can use for pushing the book into the rack.
Solenoids are just coils of electrical wire with a moving armature that wants to get into the point of
lowers magnetic reluctance.
All the push solenoids I have seen basically have a mechanical arrangement that delivers the force
out through the bottom of what would typically be the closed end of a pull solenoid housing. It could
be a thinner push-rod or a full size rod or pipe made of a non- or less magnetic material so it does
not get attracted into the solenoid like the main armature.

It is also possible to get bistable solenoids that have permanent magnetic parts, these may have a
pair of windings or be polarised. I suppose one could get a solenoid with a permanent magnet
armature that you force to push out with a determined polarity DC signal.

As the leader for the team, I think I have led the team in a proper way. I shared the work with
everyone, and made sure that everyone comes to know about everything. All my team mates
cooperated with me in a very good manner and they did their with immense dedication and
punctual.

8) Sharan:
I helped in the coding of the line follower. I and few others also worked on the electrical
connections of the robot. The simple connections from the robot to the Arduino and the motor
driver was taken care by us with the help of the other guys who were handling the coding part.
The connections from the motor driver has the below mentioned specifications.
 Motor driver’s specifications:
A motor driver is an integrated circuit chip that is usually used to control motors in autonomous
robots instead of giving direct connections from motor to Arduino it acts as an interface between
Arduino and the motors.
The L293D motor driver is a 16 pin IC, with eight pins, on each side, dedicated to the controlling of a
motor. There are 2 INPUT pins, 2 OUTPUT pins and 1 ENABLE pin for each motor. L293D consist of
two H-bridge. H-bridge is the simplest circuit for controlling a low current rated motor.

Pin number and its Characteristics:

 1 - Enable 1-2, when this is HIGH the left part of the IC will work and when its low the left part won’t
work.
 2 - INPUT 1, when this pin is HIGH the current will flow through output 1
 3 - OUTPUT 1, this pin should be connected to one of the terminals of motor
 4,5 - GND, ground pins
 6 - OUTPUT 2, this pin should be connected to one of the terminals of motor
 7 - INPUT 2, when this pin is HIGH the current will flow though output 2
 8 - VCC2, this is the voltage which will be supplied to the motor.
 16 - VCC1, this is the power source to the IC. So, this pin should be supplied with 5 V
 15 - INPUT 4, when this pin is HIGH the current will flow though output 4
 14 - OUTPUT 4, this pin should be connected to one of the terminals of motor
 13,12 - GND, ground pins
 11 - OUTPUT 3, this pin should be connected to one of the terminals of motor
 10 - INPUT 3, when this pin is HIGH the current will flow though output 3
 9 - Enable 3-4, when this is HIGH the right part of the IC will work and when it is low the right part
won’t work.

9) Abhishek Krishna swamy:

I have chosen the piston arrangement and works after the pick and place operation where
the piston operates to take the book and place it at the specified rack of interest. The piston
mechanism can be split up according to the following Algorithm which is the following:

A LED source switch can also be placed with a touch sensor which when touched, slides the
book inside the shelf
 9) START the Program.
10) After the program is started with the help of a proper sensor (for instance a pneumatic
sensor) will need to be activated and proper pressure needs to be fed correctly. Additional
sensors for speed also need to be provided.
11) Connect the motors to the piston arrangement. ‘ HIGH’ means the piston will go in the
upward direction and ‘LOW’ means the piston will come on the downward direction to
where the book/ object has to be placed.
12) SET the piston motor to ‘HIGH’ and make it come in the same direction as that of lifting
mechanism. After which with the help of the sensors activated, additional pressure is being
applied, this pushes the book in the forward direction into the rack.
13) Make a delay of 60-75 seconds, then reduce the speed of the motors using PWM in Arduino
and then bring down the piston mechanism downwards.
14) Same mechanism can be adopted for one more height and then the loop is completed using
the loop command. This can then be used for any sort of times.
15) However, we can also use a LED adopted push button attached with the piston which can
then be activated at the time of activating the piston and the book then slides into the rack.
However even different DC motors operating with these sensors can also be used.
16) Terminate the program.

10) K.Reddy rajesh:

Robot Mechanism.

1) We will be using a rack and pinion and a piston which coordinates together to push the
book placed on the lifting mechanism into its corresponding rack according to the code.

About Rack and Pinion and its job in

our Robot: Introduction Of Rack and

Pinion:
2) A rack and pinion is a type of linear actuator that comprises a pair of gears which convert
rotational motion into linear motion.
3) A circular gear called "the pinion" engages teeth on a linear "gear" bar called "the rack";
rotational motion applied to the pinion causes the rack to move relative to the pinion,
thereby translating the rotational motion of the pinion into linear motion.

4) For example, in a rack railway, the rotation of a pinion mounted on

a locomotive or a railcar engages a rack between the rails and forces a train up a steep
slope.
 5) For every pair of conjugate involute profile, there is a basic rack. This basic rack is the
profile of the conjugate gear of infinite pitch radius (i.e. a toothed straight edge).
How it is used in our Robot:
6) This Rack and pinion is arranged vertically in the robot and is operated by motor that is
connected to the pinion and when the motor rotates the rack rotates and the pinion
moves up and down which makes the robot to get aligned before the book placement.
7) The working and placement of the rack and pinion will be similar to the
functioning as shown in the figure.
8) This is how a rack and pinion geometry is used in the robot and I will be using it to do the
job.
9)

10)
About Piston and its job in our Robot:
Introduction:
11) A hydraulic cylinder (also called a linear hydraulic motor) is a mechanical
actuator that is used to give a unidirectional force through a unidirectional
stroke. It has many applications, notably in construction equipment
(engineering vehicles), manufacturing machinery, and civil engineering. How a
piston is used in the Robot:
12) When the robot gets placed before the book shelf a piston is operated either
electrically or using Arduino coding which will be moving vertically and pushes the book
into the shelf in correct placement.
13) The piston placement and functioning will be similar to the functioning of a JCB as
shown in the figure
11)Sidharth:
I have done my research on various components that can be used other than the piston for
pushing the book. We started looking for alternate components because we thought that the
weight of the piston setup would not be supported by the platform which is in turn supported by
the scissor lift mechanism.
One such alternative is linear solenoid. A Linear Solenoid is an electromagnetic device that
converts electrical energy into a mechanical pushing or pulling force or motion.
Linear solenoid’s basically consist of an electrical coil wound around a cylindrical tube with a
ferro-magnetic actuator or plunger that is free to move or slide in and out of the coils body.
Solenoids can be used to electrically open doors and latches, open or close valves, move and
operate robotic limbs and mechanisms, and even actuate electrical switches just by energising
its coil.

12)Chandrasekaran:

ROLE OF ARDUINO IN PICK AND PLACE:

Abstract:
In recent years the industry and daily routine works are found to be more attracted and
implemented through automation via Robots. The pick and place robot is one of the technologies in
manufacturing industries which is designed to perform pick and place operations. The system is so
designed that it eliminates the human error and human intervention to get more precise work.
There are many fields in which human intervention is difficult but the process under consideration
has to be operated and controlled this leads to the area in which robots find their applications.
Objective:
The main objectives of this project are: To control the displacement of the robotic arm so that the
arm can be used to pick and place the elements from any source to destination. To control the
displacement and movement of robotic arm using RF Transmitter and Receiver.