Prithvi 2 derives its inspiration from the well known Pioneer series of research platforms.
It is an intelligent and a low cost research platform built around the ATMega16 AVR RISC core. This is a powerful 8-bit micro controller having 16KB flash memory, 4 PWM channels, inbuilt ADC and having a 16MIPS throughput at 16MHz.
The robot has manual as well as autonomous modes of operation. The manual mode provides for a wireless keyboard control as well as a customizable speech control mode. The autonomous mode transfers the control to the in home processor. Its onboard ultrasonic and IR proximity sensors allow it detect obstacles and maneuver autonomously in unmapped terrains. Thus the two modes provide immense flexibility to the user.
The image processing capabilities add a new dimension to machine senses, enabling it to detect different colours as well as images. This increases the number of parameters on the basis of which a decision is taken, thus increasing the scope of applications.
This platform can be used in research labs, industries and institutions for experimentation and testing of new algorithms.
However it must be noted that this platform is still a prototype, which with further research and development can be moulded into a more intelligent and sophisticated product.
Prithvi 2 will now have a self supporting compiler with features that will allow compilation over any PC on the internet. It will have an advanced Image Processing, Pattern Matching and AI library which will enable a scalable software architechture. It is code named Project Mantis [www.projectmantis.com]. The main aim is to make it travel autonomously, more like a DARPA robot. We think we can achieve this task till next April. Check out our vidoes till then. Hopefully, we will upload some more awesome videos.
Prithvi 2 Mechanics
Prithvi is powered with a four wheel differential drive. It allows the robot to take a 360 degree turn on the spot. It is driven by height torque motors that can carry dead weight of almost 30 kilograms. It is mounted with a robotic arm that has its axes in 2 planes, vertical and horizontal plane. Hence the arm can move up or down and it can grab or release objects. It has an aluminum chassis insuring long lasting, non-rusting and highly stable and strong frame. It has a 2 floored frame for holding all the circuits with availability for the third, if required.
Features:
- Capable of driving almost 30 kilograms of weight.
- Four wheel power drive.
- On the spot 360 degree turn using differential drive.
- 2-dimensional robotic arm mounted with a camera.
- 2 floored frame for circuits, with a third available if required.
- Aluminum Chassis.
Note: All dimensions are in centimeters.
A. Arm assembly.B. Arm vertical movement motor.
C. Arm horizontal movement motor.
D. Proximity sensor.
E. Optical sensor.
F. Wheels for vehicle movement.
G. Batteries.
H. Channel for guidance of arm in vertical movement.
Top view:
2. Side View
3. The Robots Arm
The above figure shows the layout of basic mechanism used for Prithvi 2. The mechanism shown is known as a Ball screw-driven single-axis slide mechanism. This mechanism works on the principle of simple bolt n nut. In general case we keep the nut stationary and allow the screw to move to and fro. But in this case we have kept the screw stable and allowed the nut to move. Therefore as we turn the screw the nut moves along the guided path, thus translating rotary motion into linear motion.
The arm is armed with a camera which servers the vision for the robot. This provides flexibility of motion to the camera as well as acts as a surveillance device while performing mechanical tasks with the arm.
Advantages:
Disadvantages:
Construction of Mechanical Assembly: