Мехатроника 1 Бөлім mechatronics

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Мехатроника 1 том Баймухамедов М.Ф., Джаманбалин Қ.Қ.,Ақгул м.К.

Photo-pulse sensors Photo-pulse sensors «LIR-21» with a resolution of 1000 pulses/rev to measure motion parameters Ultrasound sensors
Microwave sensor Single-zone relay microwave sensor «Falcon MWS-1» for detection of pipe defects and detection of obstacles Video camera

Type of sensor
Functional Description
Accelerometers
Two-coordinate accelerometers
«Device ADXL205» for determining
the actual parameters of movement
of a mobile robot during its transport
navigation
Photo-pulse sensors
Photo-pulse sensors «LIR-21» with
a resolution of 1000 pulses/rev to
measure motion parameters
Ultrasound sensors
Single-zone relay ultrasonic sensors
«Sirio» for detection of pipe defects
and detection of obstacles
Microwave sensor
Single-zone relay microwave sensor
«Falcon MWS-1» for detection of pipe
defects and detection of obstacles
Video camera
Video camera «Logitech» for studying
the internal state of the pipe and its
configuration. It can work in both
continuous and discrete modes
The transport module consists of two motor-reducers (DC motors with
integrated worm gears). The robot has four wheels. The two rear wheels are
leading; they are supplied with a separate torque from the geared motors.
The front wheels are driven and connected to the photo-impulse sensors. All
wheels are supported by rolling bearings and equipped with specialized tires
(Scientific and Production Association of TARIS, Moscow) to ensure high
coupling properties inside the pipes.
The electronic communication and power module consists of a DAC-ADC
board (manufactured by L-Card, Russia) and a power unit for supplying control
signals to closed-loop electric motors. The length of the communication cables
is 5 m. The cable consists of 16 wires for transmitting information and power
signals.

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The control module consists of a control computer (Pentium H-350) with
software and serves to process information coming from sensors installed on a
mobile robot.
On the basis of the mobile robot IRIS-G at the Department of Robotics and
Mechatronics of MSTU «STANKIN», a remote control system for a mobile
robot using the Internet was created. The use of network technologies to solve
remote control tasks allows using such advantages of the global Internet as a
broad prevalence and accessibility, opportunit the organization of access of a
wide range of specialists and students to unique expensive equipment.

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