My Graduation Project

Two Wheel Balancing Mobile Robot

Basic Idea

my graduation project is two wheel balancing mobile robot. . It is a small robot balanced with two parallel wheel only . The main idea of this project is how to make the robot balance. First we decide to use the gyroscope to make it balanced . gyroscope is angular sensor give us the tilt angle and the direction . it is a new technology used in air plane navigator, helicopter , tanks and segway. But we were failed to bought the gyroscope because it was expensive . so we are search for another component that can used in detect the tilt angle. Finally we decide to use two infrared sensors to detect the tilt angle of the robot to make it balanced

Design

We are used Catia system to design and draw our project . Catia is the best and first Cad/Cam system in the world . We used only cad system in our project . We are used part design, assembly, fitting, drafting and kinematics.

Electronic component

PIC16F876 Microcontroller

This power full ( 200 nanosecond instruction execution) , easy to program, have three port , analog to digital convert and acapture/compare/pwm.

L298 Dual Full-Bridge Driver

The L298 is used in balancing robot to drive the two DC motors. it is a high voltage , high current dual full bridge driver. two enable inputs are provide toenable or disaple the device independently of the input signals

Sharp GP2D120 Infrared Range Finder

The GP2D120 is a compact, self-contained ir ranging system incorporating an IR transmitter, receiver, optics, filter, detection, and amplification circuity the range of the sensor is between 5 to 30 cm

LCD Interface

LCD is the most inexpensive and simplest user interface you can provide when interfacing with such processors as the Basic Stamp, PIC, etc, in displaying user prompts, messafes and displaying data

Design & Make Electronic Board

Control

We are use Pic Basic Plus language to programming our robot . it is simple programming language and it is easy to use . it is similar to visual basic language that give use flexibility to use it . you can used assembly or C language to programming your robot . we were used pic basic to make PID control to our robot

Final Result

supervisor

Professor / Ahmed Elkeran

Mansoura University (Egypt)

Production & Mechanical Design Department

If you ask me about professor who has more information about production, mechanical, electronics, electricity and mechatronics? i only answer professor Ahmed Elkeran

Team WORK

Mohamed Gomaa Mansour
He is friendly, active, and does not like spot lights and fame. now he is research in Mansoura University.

Ali Abd Elaziz Zahran

He is friendly, active, regular, workhard, and dynamic

Mohamed El seid Allam
He is friendly

Mohamed Ahmed Youssef
He is friendly and pleasent

And I (Ahmed Mohamed Ezz Eldien Erfan)

If you need more information about my graduation project you can write comment in this blog or send massage to ahmedez07@yahoo.com