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Hardware design of a mobile education robot, that uses Raspberry Pi 4 and FPGA-board for real-time control

Binnenmars, R. (2022) Hardware design of a mobile education robot, that uses Raspberry Pi 4 and FPGA-board for real-time control.

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Abstract:Because RaM and the Robot Education Lab want a new robot, and with the available robots the real-time control can not be accessed, a mobile robot needs to be made. In this assignment, the mechanical aspects and hardware of the robot are designed and made. The control unit of the robot is done by another student. The two main requirements are: the robot needs to be mobile and the robot needs to have space for a robotic arm. This robot is divided into 3 parts: the mechanics, the drive train, and the power system. The robot has a rectangular frame, two drives and two support wheels. Due to a tight schedule, lower-quality motors with a short delivery time were used. To drive the motor, the motor driver of RaM was used. This motor driver has a VNH2SP30-E H-bridge motor driver chip on it. The inputs to these drivers and the output of the encoders are connected to an icoBoard, which contains an FPGA on it to read the encoder values. The icoBoard is connected to a Raspberry Pi 4. All of the components are powered by a rechargeable 12V NIMH battery. The robot is constructed, and everything is connected mechanically or electrically. The robot is tested and meets most requirements. The robot is slower than wanted, but the robot could accelerate to this velocity in 1.09 seconds. With some adjustments and better components, this robot could be used for the Robot Education Lab
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:https://purl.utwente.nl/essays/92433
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