Friendly modulur Floor scrubber machine

Recently, Me and my Aatrral team finished a project in the cleaning related product i.e Floor Scrubber Machine.

Project Sponsor: Neat Homes

                          Home Cleaning Services

                          Coimbatore

How we got this idea?

          Neat Homes is the micro venture of Aatrral Academy. They are providing cleaning services for the Homes. Me and my Aatrral team searched the market to buy the cleaning services machines. When we search the market for Floor scrubber machine, the features and price of the floor scrubber did not convince us. So, we thought why don’t we make this machine. Luckily, we got an idea in the up cycling strategy. This is where the spark created to us to do this project.

Features or Advantages of our floor scrubber machine:

          Height Adjustable.

          Pressure can be varied depending upon the surface and dust.

          Can use any kind of brushes which is available in the market.

Support required from your side:

          We like to promote this project into next level by implementing tele robotics and vacuum cleaner along with this. Support us to make the product available in the market.

I attached the video of the project along with it.

For more support and doubts, mail me at marirenu141@gmail.com or call me at +91 86753 96803.

Linear Motion Actuators

Brief Explanation:

This project is mainly developed to produce the technical advancement in the Industries to finish the work faster and easier. For that thing, I chose this project. If I want to make it easier, I have to implement heavy motors to carry heavy loads with less effort. So that, I come up with the idea to implement Ball Screw after I read several things I got the knowledge about the ball screws which is much advantageous than any other screws. Next step, I have to give automation here. Mostly people in the industries are familiar with the CNC Codes and it is also very easy to write in the Interface. So that, I choose the software concept called GRBL and Hardware Arduino for easy prototyping. To rotate the Ball screw shaft, I need one motor and after I go through several things I chose the Stepper Motor for its high torque with precision achievement. At last I finished the project successfully and I got the result as I expected.  

Detailed Explanation from the Initial Stage:

Design Layout:

Arduino - GRBL Pin Configuration:

COMPONENT SELECTION APPROACH

Step 1:

First the suitable guide ways and sliding bed are selected randomly with some approximation dimensions. The guide ways material is much economical with the high hardness (60-64).

Step 2:

And the ball screw is chosen based on the cost and material ball screw output. 14mm diameter screw shaft is much economical and the desire movement can be achieved with this. With that the pillow block bearing is also chosen for the 14mm ball screw shaft.

Step 3:

Aluminium channels are selected to make the frame for the actuator. It is very light weight and little expensive compared to cast iron.

Step 4:

Autonics stepper motor is chosen because of its high torque and its good quality and brand.

Step 5:

Power source is selected on the requirement of the stepper motor.

FABRICATION APPROACH

Step 1:

First the long aluminium channels are cut into the pieces using the cutting machine as per the required dimension.

Step 2:

And the guide ways are mounted in the aluminium channels using the channel bolts and nuts. First mounting frame is over.

Step 3:

Sliders are made to slide after the mounting construction is over.

Step 4:

Sliding bed and sliders are bolted together after alignment test. In alignment test, the sliding bed is made to slide on the guide ways and alignment is done by moving the sliding bed along with the slider from one end of the guide ways to another.

Step 5:

After that ball screw is fitted in the machine after the proper alignment test and ball screw nut is fitted to the sliding bed with the bolts and nuts.

Step 6:

And the motor shaft is coupled with the ball screw shaft with the use of Oldham coupling. Here, the motor is mounted in the special type of frame. Two L-Bends are drilled as per the motor dimension holes and L-bends are fixed to the channels. Motor is mounted on the L-bends and the motor and bends are bolted together.

WORKING SUMMARY

Power source usually the Switch Mode Power Supply is used for the power supply for the Stepper Motor Controller. Arduino Board is connected to the Stepper Motor Controller using the Jump Wires. Using the Arduino IDE software, the grbl program is executed in the Arduino Board.

          Separate Pin Configurations available in the Arduino Digital/Analog pins which control different signal from the arduino to the Stepper Motor Controller. Here, Candle-Grbl Controller is used as the User Interface Software. Using this, the CNC program is written in the Command area and it is executed in this. And Various options are available in the interface to control the Actuator easily.

          Signal from the Arduino is sent to  the Stepper  Motor Controller. Stepper Motor Pulse, Direction and Enable terminals are connected to the Stepper motor. This controller sends the signal to the stepper motor to rotate at the particular speed and steps/revolution.

Stepper Motor output shaft is connected to the screw shaft of the Ball screw. When the Motor rotates the screw shaft also rotates which reciprocates the nut of the Ball screw. Ball screw nut is connected to the sliding bed also slides along the guide ways. Here the ball screw changes the rotary motion of the motor into linear motion. 

                                                   

                                                  Images of the Project:

 Need full report of the project or doubts mail me at marirenu141@gmail.com

All the best!!!

Engineering is more of attitude and emotion than aptitude and profession- Myself proved this

I am pursuing Engineering in the field of Mechanical Engineering. Aatrral Learnerspark gave me the spark to achieve something in my life. Still, I am working happily on the way to achieve things. I am proud to be happypreneur (i.e. Working happily to become the entrepreneur) in Aatrral Academy- Coimbatore. I hope that one day I will be the Innovator. Surely, I will make glory to my Aatrral and Mr.Bala ( My Mentor).

I attached the youtube video which is about my pathway to be the happypreneur. Still I am working on the Real time project. I hope that I will succeed. 

Is it possible to travel at a sonic speed in ground?

Can anybody travel at a speed of sonic(1200 km/hr) in ground?

            It is possible with the use of hyperloop.

What is hyperloop?

            Hyperloop is nothing but the pod or capsule like structure travel in the evacuated or vacuum tube with the use of magnetic levitation, linear electric motor and air cushion.

Who found this?

            Elan Musk(CEO of the SpaceX) found this technology in 2012. He proposed this design with the air bearings and air compressors. After that, he made this open design to access this technology to make this as a powerful one. After that, Hyperloop Technology (later changed into Hyperloop One) took over that improved this design by implementing linear electric motor, magnetic levitation and air cushion. The SpaceX made the 1 mile track to conduct the hyperloop pod competition for the young engineers around the world to invent the good pod or capsule design for the fastest transportation.

How does this train works?

            The pod or capsule of the hyperloop carries the passenger. The pod or capsule placed inside the evacuated or vacuum tube. And the tracks are made with use of aluminium. Usually in the maglev train, copper is used as the materials to lay the tracks. It is so costly also. But in the hyperloop, aluminium tracks made this cheap. And the linear electric motor is fitted at the evacuated tubes for the actuating purposes. The magnetic levitation makes the hyperloop friction free which looks like the capsule are suspended in air. The air cushion prevents the air resistance for the capsule. The evacuated tube or vacuum tube is made with the use of air pump to suck the air inside the tube. So, it can travel at a very high speed which is nearly the sonic.

Tests which proves that:

            Recently, Hyperloop One conducted a test in Nevada in US. In that pod or capsule of the hyperloop ran at 187 km/hr in 1.1 seconds, even without the sealed or evacuated tube. Hyperloop tied with several countries to implement this into reality. And hyperloop one decides to implement this project between Los angles-San fransisco. So that, it is possible to reach San fransisco  from Los Angles within 30 minutes. It is going to be the fastest transportation ever which has invented to travel in the ground atmosphere.   

When will earth stops function????

Hi guys welcome you all after a month gap.  Do you want to know How many years the earth is going to function? For that we have to wait for 9 years to know. Let’s see how?

When will earth die?????

The earth is functioning due to the heat present inside the earth. For the formation of heat, the earth depend on the radioactive element present  inside the earth. This act as the fuel for the earth engine.

What is neutrino?

Neutrino is the nearly massless particle which is very hard to capture. Nearly billions of neutrino come across our body every second. But it is impossible to detect the neutrino, because it rarely interact with the matter.

How it is formed?

                Neutrino’s are the byproduct of nuclear reactions occurred in the sun, nuclear reactors and radioactive element.

Mystery behind Neutrino:

                Earth radiating 46TW of heat.  Heat present inside the earth makes the planet shake, Volcanic eruption and working of magnetic field in the earth. If the total amount of energy present inside the earth come to finish, the earth stops functioning.The earth will die. When a uranium or thorium nucleus splits in radioactive decay, it releases a neutrino. The neutrinos have a specific range of energies. Once in a while, one will smack into a proton, the nucleus of a hydrogen atom. When this happens, the proton is changed into a positron (an electron with a positive charge) and a neutron. The neutron, meanwhile, collides with another hydrogen atom and becomes deuterium. These neutron-hydrogen atom collisions create a double flash of light. These are hard to see, though, because they happen very rarely.

                Imagine,When billions of bullet fired at the same target but only one striking the target. To catch the rare collisions, it requires detectors with lots of protons for the neutrinos to hit.

                There are only two neutrino observatory present in the world one is in japan and other is in Italy. In Japan(Super-Kamiokande ) observatory, they uses a 1000 tons of liquid which is the mixture of  benzene and mineral oil, along with some fluorescent chemicals in order to catch the neutrino that hit.

                The other one in Italy(Borexino detector) uses 300 tons of organic liquid to catch the neutrino and 2200 sensors are there to detect the flashing of light. The whole detector is housed inside the huge sphere which is covered by water.

                With the use of these observatories, They detected 16 collisions per year.In 2022, Our world will contain 5 neutrino observatory. China is constructing two neutrino observatory(Jinping and JUNO detectors) and Canada is constructing one observatory(SNO+ detector ). Juno detector is the 16 times powerful than the existing detectors. 

                With the use of these 5 detectors, scientist hopes that we can know how much fuel inside the earth and how many years the earth will function. Detectors needed 3 three years from 2022 to completely detect the neutrino collisions. In 2025, We can know how much fuel inside the earth. I hope you understand.

How train turns in circular path?

Hi guys I come with the interesting question ‘How train takes a turn in curved path without differential gears like the automobiles???’

    In trains, the differential gears are not possible because there are large number of wheels present in each carriage of the train. Our mind blowing what can be there, simply the small idea behind this. We will see the whole idea below.

  Basically the train wheels are frustum in shape. It is running in the same manner when it is moving in the straight path. But If we want to turn it into right, the larger diameter of the frustum wheel should contact at the right side of the track and the smaller diameter should contact at the left side of the track. So, the right side wheel will cover more distance than the left side wheel due to smaller diameter in the left side. When the train takes the turn, the centrifugal force acts on the train to make the changes in the diameter of the wheels.

           

I hope that you have understand the concept which I am given. Still if you have some doubt, please free to contact me at marirenu141@gmail.com.

DIY Simulation of U Arm

DIY ROBOTICS TUTORIAL
Simulation of ‘U’ Arm using Arduino
- P.Mariselvan
  Volunteer Associate
  Aatrral Academy

Introduction:
‘U’ arm is the basic and least expensive robot arm. But it’s application area spans across many domains. In the tutorial below, I will show you how to easily make a working model of the ‘U’ arm with less expensive materials.
Materials Required:
 4mm Thick cardboard – x 1
 Servo motor – x 2
 L bends (It can be any material) – x 2
 Screw and nut pieces –x 8
 Bolt and nut – x 8
 Arduino Mega board – x1
 5v battery or SMPS(Switch Mode Power Supply)
 Male to male jumper wires – x 12
 Insulation tape – x 1
Theory:
Servo Motor:
Servo motor is used as an actuator in cars & robots. A circuit built inside the motor unit controls the shaft’s position, the shaft is connected to a system of gears which amplify the torque output. The circuit has a potentiometer which determines the amount of rotation of the shaft with respect to the electric signals given.
Procedure:
How to cut the cardboard:
a. Cut the cardboard by 13cm length and 7cm breadth
into single piece, mark the piece as 1.
b. Cut the cardboard by 15cm length and 4cm breadth
into two pieces with same dimension, mark the pieces
as 2 and 3.
c. Cut the cardboard by 20cm length and 4cm breadth
into two pieces with same dimension, mark the pieces
as 4 and 5.
d. Cut the cardboard like the image below into two
pieces. It should act as a joint between pieces 4 and
5.And mark these joints as 6 and 7.
e. All figure dimensions are in cm.
How to cut holes in these cardboard pieces:
Step1:
Take the cardboard piece marked as 1 and make holes like shown in the image below.
All dimensions are in cm
The hole I made is suitable for my L bend. So try to make the hole to suit your L bend. My L bend length is 5cm and height is 5cm. After that cut a piece of cardboard 3cm×3cm and glue that to the center of whole weight acting area. In the end make a hole in the cardboard piece and fix the servo horn that comes along with the servo motor.
Step 2:Next make holes like the image below for the cardboard pieces 2 and 3
Step 3:
Next make holes on the cardboard pieces 4 and 5 like the image below.
Step 4:
Next make holes on the cardboard pieces 6 and 7 in two joints as shown above in the figure.
Step 5:
To connect the servo with the upper arm we have to cut the extra
two cardboard pieces as shown in the image below and mark the
pieces as 8 and 9.
If the above link does not produce the actuation, cut the card
board into long pieces according to your need.
Time to Assemble the cardboard pieces:
Step1:
Take the cardboard pieces 1 and 2, L Bends. Join them as shown
in the figure 1.1 using screw and nut.
Step 2:
Take the cardboard pieces 2 and 3, join that using screw and
nuts in the L bend as shown figure 1.2.
Step 3:
Take the pieces 4,5,6 & 7, join them as shown in figure 1.3.
Step 4:
Take the two separate objects as we have made. And join them as shown in figure 1.4 using bolts and nuts , but don’t torque (tighten) them too much, so that the arm can move.
Step 5:
Finally, fix the servo motor as an actuator to actuate the arm. Place the motor as shown in figure 1.5 and join the pieces 8 and 9.
Step 6:
Place the whole setup in the servomotor1.
And fix the servo motor1 and the whole setup in the thermocole stand. It is the basement for whole setup.
Program for servo motors:
#include <Servo.h>
Servo myservo1;
Servo myservo2;
void setup()
{
myservo1.attach(9);
myservo2.attach(10);
Serial.begin(9600);
}
void loop()
{
for(int i=0;i<=180;i++)
{
myservo1.write(i);
Serial.println(i);
delay(10);
}
for(int i=80;i<=100;i++)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
delay(500);
for(int i=100;i<=140;i++)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
for(int i=180;i>=0;i--)
{
myservo1.write(i);
Serial.println(i);
delay(10);
}
for(int i=140;i>100;i--)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
delay(500);
for(int i=100;i>=80;i--)
{
myservo2.write(i);
Serial.println(i);
delay(50);
}
}
What does the program mean:
I. Here the actuator is the servo motor, if we use the servo motor in the program, it should be included in the library as #include<servo.h>.
II. The two names given for each servo motor as myservo1 and myservo2.
III. After that in the setup loop the pins are specified where to attach the servo motors to the digital pins. And serial.begin(9600) is used to see the values in the serial monitor.
IV. After that in the execution loop the program is written. It means first the angle of the servo motor1 is initialized as 0 degree. And the condition is checked, is it less than 180 degree? After that it executes commands inside the loop which means the servo shaft comes into 0 degree.
V. And it delays for a period of 10 milliseconds. And then the value stored is increment by 1. After that the condition is checked and it executes inside the loop. It goes on until the condition is true which means the angle of shaft rotates up to 180 degree.
VI. The same procedure followed for the servo motor2 as written in the program.
VII. After that it goes backward in the same manner.
VIII. Side by side we can see the degree of the rotation in the serial monitor.
Applications:
We can use this in any application depending upon your needs. Especially it’s used in assembly and welding operations. It can also lift loads programmatically. In the end effector you can use any actuator suitable to your application, with some changes in programming.
                                           Thanks for reading this tutorial
                              If you have any doubt, please feel free to contact at
                                           marirenu141@gmail.com
                                       I am ready to give you a clarification.
                                   
                               

Control of servo motor using arduino

Control of servo motor using arduino

Aim:

 To control the servo motor  using the arduino.

Components Required:

v    1×DC Servo motor

v 1×Arduino UNO

v 3×Jump wires-(3 Nos)

Theory:

Servo Motor:

          Servo motor is the combination of DC motor, potentiometer and gears. It consists three pins red colour wire pin is used for supplying voltage, black or brown wire pin is used to connect ground and white or yellow wire pin used to control of  shaft postion.

          Here by varying the PWM signals, We can precisely control the shaft postion. If you want to much more details about the servo motor working refer to Wikipedia.

How to give the connections:

Step1:

          Keep the arduino UNO along the cable and servo motor on the table.

Step2:

Ø Connect +5v pin to the red colour wire pin of the servo motor.

Ø Connect Gnd pin to the black or brown colour wire pin of the servo motor.

Ø Connect Digital pin 9( Or any PWM Pin) of the arduino to the white or brown wire pin of servo motor.

Step3:

        Run the program which is written below.

Program:

#include <Servo.h>

Servo myservo; 

int pos = 0;   

void setup() {

  myservo.attach(9); 

}

void loop() {

  for (pos = 0; pos <= 180; pos += 1) {

    myservo.write(pos);             

    delay(15);                      

  }

  for (pos = 180; pos >= 0; pos -= 1) {

    myservo.write(pos);             

    delay(15);                       

  }

}

What does the program say:

v Initialize the servo motor library function with <servo.h>

v    Name the servo as myservo.

v Initialize the position as zero.

v In setup function, it says that the servo is attached at 9^th digital pin.

v In loop function, the for loop gives control over the servo motor to rotate the shaft to 0 to 180 and  180 to 0.

Here when the program executed, the servo motor rotate to 180 degree and servo motor return to 0 degree.

                            

                      If you have any doubt,please free to contact me at marirenu141@gmail.com