‫جامعــــة األزهــر – غـــــــــــــــسة‬

Al Azhar University - Gaza

FACULTY OF ENGINEERING
AND INFORMATION TECHNOLOGY
DEPARTMENT OF ENGINEERING

FINAL YEAR PROJECT REPORT

Shrimp Rover Robot

Bassam Waleed Harb Al-Jazzar 20110870

Ayham Jamal Mohammed Al-Qarra 20110445

SUPERVISED BY
Eng. Nashat R. Naim

March / 2017
SEMESTER || 2016/2017
Abstract
This report presents an overview of the mechanical design features and
characteristics of a Shrimp Rover Robotic for operation in unstructured
environments.

Navigating in rough terrain is a complex task that requires the robot to be

considered as a holistic system.

Algorithms, which don’t consider the physical dimensions and capabilities

of the mobile robot lead to inefficient motion and suffer from a lack of
robustness.

Duo to that report show how can beat this problems by designing Shrimp
Rover Robot have the ability of solve the challenges and capable to adopt
with the geographical terrain of the places.

It based on the technology that designing certain mechanical mechanism

contain six wheels each one of it have independent motor mounted to it
that allow it to move like shrimp.

The control of this mobile robot will be by programming android software as

application on smartphones devices, after that signal will be sent wirelessly
through Bluetooth technique.

II
 To our beloved parents
Brothers and sisters
All who supported us in this work.

III
ACKNOWLEDGEMENT

At the very outset, all our prayers and thankfulness are to Allah the
almighty for facilitating this work and for granting us the opportunity
to be surrounded by great and helpful people at Al Azhar University.

We wish to express our deep gratitude and sincere thanks to the

supervisor, Eng. Nashat Naim who was generous and encouraged
us to pursue this report and spent extra time to helping us to
achieve this project, so we ask Allah to reward him on my behalf.

We would never have attempted to obtain to do this work if it

weren't for the continuous encouragement that we received from
our parents, who we will be grateful, for them to rest of our lives.

We can't forget to offer our sincere thanks to our colleagues who

helped us to carry out this project work successful and for their
valuable advice and support which we received from them time to
time.

IV
  Table of Contents
ABSTRACT…………………………………………………………………………………………………….…II
ACKNOWLEDGMENT……………………………………………………………………………………...IV
TABLE OF CONTENTS………………..................................................................................V
LIST OF TABLES………………………………………………………………………………………………………...VII
LIST OF FIGURES ……………………………………………………………………………………………………..VIII
CHAPTER 1: INTRODUCTION
1.1: INTRODUCTION ……………………………………………………………………………………………….2
1.2: PROJECT DEFINITION ……………………………………………………………………………..………..7
1.3: PROBLEM STATEMENT ………………………………………………………………………………………8
1.4: PROJECT OBJECTIVE ………………………………………………………………………………………….9
1.5: PROJECT REQUIREMENT ………………………………………………………………………………….10
1.5.1: Hardware Requirement………………………………………………………………………10
1.5.2: Software Requirement………………………………………………….…………………….12
CHAPTER 2: LITERATURE SURVEY
2.1: LITERATURE REVIEW………………………………………………………………………………………..14
2.1.1: SHRIMP Rover built with Lego 2001………………………………………………….15
2.1.2: Rescue Robotic unit …………………………………………………………………………16
2.1.3: Robotic crawler rover……………………………………………………………………….18
2.1.4: Bluebotics Shrimp…………………………………………………………………………….21
2.1.5: SOLERO…………………………………………………………………………………………….22
2.2: Land-Based Robots Types…………………………………………………………………………23
2.3: Design Basics…………………………………………………………………………………………….26
2.3.1: Physical Design…………………………………………………………………………………26
2.3.1.1: Building Materials………………………………………………………………….26
2.3.1.2: Types of wheels……………………………………………………………………..27
2.3.2: Mechanical Components………………………………………………………………….30
2.3.2.1: Bearings…………………………………………………………………………………30
2.3.2.2: Gears……………………………………………………………………………………..31
2.4: control system…………………………..…………………………………………………………..…33
2.4.1: Microcontroller…………………………………………………………………………………33
2.5: Actuators Devices ………………………………………………………………………….………..36
2.5.1: Stepper motors............................................................................36
2.5.2: DC servo motors...........................................................................37

V
 2.5.3: DC-motors....................................................................................38
2.6: Sensors ……………………………………………………………………………..…….....…..….40
2.7: Power source...........................................................................................41
2.8: CONTROL DEVICES ………………………………….…………………………………..….….……42
CHAPTER 3: DESIGN AND SIMULATION
INTRODUCTION ……………………………………………………………………………………………....44
3.1: The Mechanical design……………………………………………………………………………..45
3.1.1: Front and rear forks………………………………………………………………………….46
3.1.2: Bogies………………………………………………………………………………………………48
3.1.3: Robot seesaw system……………………………………………………………………….50
3.1.4: steering…………………………………………………………………………………………….50
3.2: SCENARIO OF THE ROBOT WALKING…………………………………………..………………..….52
3.3: ELECTROMECHANICAL PARTS……………………………………………………….……………..55
3.3.1: Drive Motor………………………………………………………………………………………..55
3.3.2: H-Bridge circuits for Driving Motors…………………………………………………...60
3.3.3.1: Steering Stepper Motors H-Bridge Circuit..............…………….……...62
3.3.3.2: DC Motors H-Bridge Circuit ..............…………………………………………..64
3.4: CONTROL PARTS……………………………………………………………………….………………65
3.5: MECHANICAL PARTS…………………………………………………………………………………67
3.5.1: Caster and Bracket…………………………………………………………………………….67
3.5.2: Types of caster will be used in our project …………………………….…….…….68
CHAPTER 4: DESIGN IMPLANTAION
4.1: MECHANICAL PARTS ........................................................................................….71
4.1.1: Robot Main Body ……………..................................................................... 71
4.1.1.1: Lower side……………………….………………………………………………..……….71
4.1.1.2: Upper side ................................................................................... 72
4.1.2: Caster and Wheels.........................................................................……...78
4.2: ELECTRO MECHANICAL PARTS ........................................................................... ….84
4.2.1: Stepper Motor .......................................................................................84
4.2.2: DC Motor .............................................................................................. 85
4.3: CONTROL PARTS .............................................................................................….87
4.3.1: Drivers of Motor ....................................................................................... 90
4.4: Assembly .................................................................................................. ….92
4.5: Faced Problems of Shrimp Rover Robot ...................................................... 98

VI
 4.6: Project cost table ................................................................................ …..100
CONCLUSION ................................................................................................ …..101
APPENDIX A: DC Driver Test……………………………………………………………………..…………. 102
APPENDIX B: SOFTWARE CODE .......................................................................... …..105
REFERENCES .............................................................................................. …..107

 List of Tables
Table 2.1: Specifications of shrimp. .................................................................... 21
Table 2.2: Comparison between types of robot. ................................................. 25
Table 2.3: Comparison between microcontrollers. ............................................. 35
Table 2.4: Stepper vs. Dc Servo Motor. ............................................................... 39
Table 3.1: Shrimp rover Robot main characteristics. ......................................... 50
Table 4.1: Motor Specifications. ........................................................................... 85
Table 4.2: Cost of MTM robot. ............................................................................ 100

 List of Figures
Figure 1.1: Robotics Timeline. ..................................................................................6
Figure 2.1: SHRIMP rover built with Lego 2001 ........................................................ 16
Figure 2.2: Rescue Robotic unit. ............................................................................ 18
Figure 2.3: Robotic Crawler Rovers. ........................................................................ 20
Figure 2.4: Bluebotics Shrimp. ............................................................................... 21
Figure 2.5: SOLERO mechanical structure, prototype equipped with a solar panel. ...... 23
Figure 2.6: Land-Based Robots Types … ................................................................. 24
Figure 2.7: Standard Wheels. ............................................................................. 28
Figure 2.8: Orientable Wheels. .......................................................................... 29
Figure 2.9: Ball Wheels. ....................................................................................... 29
Figure 2.10: Bearings ............................................................................................ 31
Figure 2.11: Gear transmission ........................................................................... 32
Figure 2.12: Stepper motor ................................................................................... 36
Figure 2.13: DC servo motor ................................................................................. 37
Figure 2.14: DC motors ......................................................................................... 38
Figure 2.15: Ultrasonic Module ............................................................................. 41
Figure 3.1: Shrimp Rover Robot Design ................................................................ 44

VII
Figure 3.2: Shrimp Rover Robot. ............................................................................ 46
Figure 3.3: Front fork kinematics. ........................................................................... 47
Figure 3.4: Four bar theory. ................................................................................. 47
Figure 3.5: Four bar theory for front forks.. ............................................................ 48
Figure 3.6: Types of bogies .................................................................................... 48
Figure 3.7: The Classical bogies on rough terrain. ................................................. 48
Figure 3.8: The parallel bogies on rough terrain. .................................................... 49
Figure 3.9: Virtual rotation axis of a bogie. ............................................................. 49
Figure 3.10: Seesaw in robot. ................................................................................ 50
Figure 3.11: Overall mechanical dimensions of Shrimp Rover Robot (in mm) ....... 51
Figure 3.12: Forward Movement Scenario.............................................................. 52
Figure 3.13: Reverse Movement Scenario. ............................................................ 52
Figure 3.14: Turning around itself. .......................................................................... 53
Figure 3.15: Navigation a steps or rough terrain. .................................................... 54
Figure 3.16: Robot flexibility in Convex/Concave environment. .............................. 54
Figure 3.17: Standby Scenario. .............................................................................. 54
Figure 3.18: H-Bridge first mode. ........................................................................... 61
Figure 3.19: H-Bridge second mode....................................................................... 61
Figure 3.20: L298 dual H-Bridge Circuit ................................................................ 63
Figure 3.21: L298 Dual H-Bridge Motor Driver Bored ............................................. 64
Figure 3.22: Controlling from the user side............................................................. 65
Figure 3.23: Schematics of the control system. ..................................................... 66
Figure 3.24: Block diagram of control circuit of the robot .........................................66
Figure 3.25: arduino mega 2560 ........................................................................... 67
Figure 3.26: Types of caster. ................................................................................. 67
Figure 3.27: Caster that will be used in our project ................................................ 68
Figure 4.1: Lower side and slipway in SloidWorks .................................................. 71
Figure 4.2: Lower side with slipway ........................................................................ 72
Figure 4.3: Upper side: front upper form in SloidWorks ......................................... 72
Figure 4.4: Upper side: front upper form................................................................. 73
Figure 4.5: Upper side: rear upper form in SloidWorks .......................................... 73
Figure 4.6: Upper side: rear upper form ................................................................ 74
Figure 4.7: Spacer in SloidWorks .......................................................................... 74
Figure 4.8: Spacer ................................................................................................ 75
Figure 4.9: Front frok.............................................................................................. 75
Figure 4.10: Front frok in SloidWorks .................................................................... 76
Figure 4.11: Rear frok ........................................................................................... 76
Figure 4.12: Rear frok in SloidWorks .................................................................... 77
Figure 4.13: parallel bogies ................................................................................... 77
Figure 4.14: parallel bogies in SloidWorks ............................................................ 78
Figure 4.15: Casters ............................................................................................. 78
Figure 4.16: Casters in SloidWorks ........................................................................ 79
Figure 4.17: Wheels in SloidWorks ........................................................................ 79
Figure 4.18: Wheels .............................................................................................. 80

VIII
Figure 4.19: Thrust and Ball Bearing ..................................................................... 80
Figure 4.20: Gears in SloidWorks. .......................................................................... 81
Figure 4.21: Gears ................................................................................................ 82
Figure 4.22: Bolts and nuts .................................................................................... 82
Figure 4.23: Spring ............................................................................................... 83
Figure 4.24: Stepper motor .................................................................................... 84
Figure 4.25: DC-motor with gear ............................................................................ 86
Figure 4.26: installed android program ................................................................... 88
Figure 4.27: Bluetooth module hc-05 ..................................................................... 88
Figure 4.28: Bluetooth module hc-05 with arduino mega ........................................ 89
Figure 4.29: Stepper driver circuit .......................................................................... 90
Figure 4.30: DC driver circuit. ................................................................................. 91
Figure 5.1: First stage ............................................................................................ 92
Figure 5.2: Second stage ....................................................................................... 93
Figure 5.3: Third stage. .......................................................................................... 94
Figure 5.4: Fourth stage ......................................................................................... 95
Figure 5.5: Fifth stage ........................................................................................... 96
Figure 5.6: Final view ............................................................................................. 97
Figure 6.1: First DC driver circuit. ......................................................................... 102
Figure 6.2: Second dc driver circuit ..................................................................... 103
Figure 6.3: Third dc driver circuit. ........................................................................ 104

IX
 Chapter 1
Introduction

[1]
1.1 Introduction

With the development in our different fields of life and with the
advent of the industrial revolution during the nineteenth century
brought about a rapid development of new electronics, integrated
circuit, instruments, measurement techniques and machines to
satisfy the needs of industrialized production techniques. Since
that time, there has been a large and rapid growth in new industrial
technology. This has been particularly evident during the last part
of the twentieth century, encouraged by developments in
electronics in general and computers in particular. This, in turn,
has required a parallel growth in new instruments and
measurement techniques.
The massive growth in the application of computers to industrial
process control and monitoring tasks has spawned a parallel
growth in the requirement for instruments to measure, record and
control process variables. As modern production techniques
dictate working to tighter and tighter accuracy limits, and as
economic forces limiting production costs become more severe, so
the requirement for instruments to be both accurate and cheap
becomes ever harder to satisfy. This latter problem is at the focal
point of the research and development efforts of all instrument
manufacturers.
In the past few years, the most cost-effective means of improving
instrument accuracy has been found in many cases to be the
inclusion of digital computing power within instruments
themselves. and then put them inside the systems. [1]

[2]
These systems depend on the integration of mechanical, control,
and computer systems in order to meet demanding specifications,
introduce „intelligence‟ in mechanical hardware, add versatility and
maintainability, and reduce cost. Competitiveness requires devices
or processes that are increasingly reliable, versatile, accurate,
feature-rich, and at the same time inexpensive. These objectives
can be achieved by introducing electronic controls and computer
technology as integrated parts of machines and their components.
Mechatronics design results in improvements both to existing
products, such as in micro-controlled robotics machines, as well as
to new products and systems. A key prerequisite in building
successful mechatronic systems is the fundamental understanding
of the three basic elements of mechanics, control, and computers,
and the synergistic application of these in designing innovative
products and processes.
Although all three building blocks are very important, mechatronics
focuses explicitly on their interaction, integration, and synergy that
can lead to improved and cost-effective systems. [2]

In general, it is a good idea to define our terms at the beginning as

example of these mechatronics systems, and be explicit as to what
we are talking about , Robotics engineer develop man-made
mechanical devices that can move by themselves, whose motion
must be modeled , planned, sensed, actuated and controlled and
whose motion behavior can be influenced by programming. Robots
called intelligent if they succeed in moving in the safe interaction
with an unconstructed environment, while autonomously achieving
their specified tasks.

[3]
Robot Is an automatic device that performs functions normally
ascribed to humans. most industrial robots have at least the
following five parts:

Sensors, Effectors, Actuators, Controllers and common effectors

known as Arms .Many other robots also have Artificial Intelligence
and effectors that help it achieve Mobility.

Types of Robots are: Mobile Robots, Rolling Robots,

Walking Robots, Stationary Robots, Autonomous Robots,
and Remote control Robots. Like all technology, robots
perform tasks which are idealizations or extensions of
human capabilities in dangerous environments or
manufacturing processes, or resemble humans in
appearance, behavior, and/or cognition. So we cannot use.
The character of robots to define them. Robots offer specific
benefits to workers, industrials and countries if introduced
correctly, mobile robots can improve quality of engineering
life by freeing them from dirty, boring, and dangerous. It is
also provide high quality survivor and result. [3]

Mobile robotics: The branch of robotics concerned with movable

robot systems that are able to locomotion within an environment or
terrain.
A robotics engineer he or she designs, maintains, develops new
applications and conducts research to expand the potential for
robots.

[4]
The role begins with a strong focus on a specific business
problem, in a particular sector. For example in manufacturing there
may be a need to increase capacity by creating robots for tasks
that can be automated. Mobile robots may also be designed to
explore areas that are inaccessible
or dangerous for human beings. Mobile robotics is an important
part of the industry, with applications in diverse industries,
including manufacturing, agriculture, aerospace, mining, and
medicine. Mobile robots have the capability to move around in their
environment and are not fixed to one physical location.

At the heart of every robot is a robotics engineer who thinks about

what a robot needs to do and works with several engineering
disciplines to design and put together the optimal piece of
equipment, demonstrating a commitment to attention to detail. In
this instance the robotics engineer uses existing technologies to
create solutions to new challenges. He or she is not creating new
(robot) technology. [4]

Mobile platforms can move freely and hence have limitless

operational area these platforms ,however cannot manipulate
objects themselves, so typical tasks involve surveillance, cleaning,
monitoring and analysis .The platforms have different mechanisms
to move : wheels, legs, wings, even jets ,so it has the ability to
move around human presence. Safety measures demand
embodied intelligence hence the rise of an operations obstacle
avoidance, map analysis and self-awareness are all parts of
overall of the system. [5]

[5]
Robots can have any number of wheels, but six wheels are
sufficient for static and dynamic balance. Mechanical mechanisms
will be required to keep all the wheels in the ground, when the
terrain is not flat.

This project concerned in design and fabricating six wheels robot

which can be controlled serially through a user interface using
smart phones devices.

You can find the SHRR in many application like factories, Climb
stairs, reach to difficult high places and take a photos, Search and
rescue operations to find a survivor and in NASA's agency used in
the surface of the moon for exploring and getting samples from
there, it can be used with an arm robot, to do several things
including disable a bomb or hold a component and transfer it from
place to another in a factory.

Either can put on it spectrometer then develop to be Science

Rover Robot.

Figure 1.1: Robotics Timeline. [5]

[6]
1.2 project definition

Shrimp Rover Robot (SHRR):

“Shrimp”. Setting a four rod elbow, front fork, side wheels

that work by parallel bogie system and robot flexible chassis
that make it possible for shrimp to climb stairs with the
height of 30 cm, and also to pass through areas with
unstructured obstacles. On the other hand setting wheels
with controllable speeds and a turning system that adjusts
the angle of front and back wheels makes it possible for the
robot to maneuver with high accuracy in confined areas.

The shrimp rover robot can also be used in military like mine
detecting, combat, search, and surveillance operations.

The signal starts from the smart device, and then in

sequences it will be sent through Bluetooth to the main
microcontroller then to the robot.
It is designed to be efficient, Endure hardship and reducing
time and effort, in order to make work more easy and
simple.

[7]
1.3 Problem Statement

Shrimp Rover Robot is designed in order to solve some problems,

like:

1. Rise stairs, overcome obstacles are the big challenge.

2. The other problem is navigation through variance geographical

terrain. It is designed to transport anywhere in easiest and

efficient way with low effort.

Shrimp Rover Robot Designed is capable of operation in

unstructured environments. It is actually doing that by mounting on

each wheel one motor, and mechanical mechanism allow it to

move like shrimp, which already will solve the problems.

[8]
1.4 Project Objectives

1- Drawing a 3D design for the robot using the Solid Works.

2- Find out the easiest method of controlling of the robot.

3- Draw the flow graph and writing the software code that we

would use with the Microcontroller.

4- Doing a simulation for the main circuit and the solid component

of the wheel robot.

5- Assemble all the last points in one machine, to be called

Mechatronics Project.

6- Search about each element in internet that we could use in the

robot building and manufacturing.

7- Use an improper and convenient actuators, sensors, in order to

facilities the work of the robot.

[9]
1.5 Project Requirements

There are a hardware and software requirements which are

needed in order to implement this project as the following:

1.5.1 Hardware Requirements:

1- Main Body:
Steady platform structure that ensures the coherence and
durability of the robot, it will be the carrier of the other
component, by mount on it battery, links, wheels, bolts,
nuts, springs, and electronic circuit.

2- Sensors:
An Important element whose purpose is to detect changes in its
environment, and then provide a corresponding output, sensors
may provide various types of output, but typically use electrical or
optical signals, and corresponding it output microcontroller will
programed. Sensors like HC-SR04 Ultrasonic Sensor,
potentiometers can be used in robots.

3- Microcontrollers:
A microcontroller (also MCU or μC) is a computer-on-a-chip.
It is a Type of microprocessor emphasizing high integration, low
power consumption, self-sufficiency and cost-effectiveness, in
contrast to a general-purpose microprocessor (the kind used in a
PC). The arduino microcontroller will be used as the main

[10]
controller of the six wheel‟s vehicle, in order to control of the
wheels.
4- Actuators:
It is one of the most important elements in the Robot, because it
should be the movement element, which responsible of speed, and
we could use DC-Motor and stepper motor for that reason.

5- Control circuit & Driver circuit:

The circuit board that will make sure we can control the
motors that mounted on the six wheels (often will be bridge
circuit with some transistors and Diodes) .

6- Smart phones:
The manipulator or the remote control that will allow us to control
the robot, it does often consist of user interface and options to
make the controlling more easily.

7- Other Components:
There are other requirements needed for the project such as:
Transistors, diodes, resistors, oscillators, power supply, connection
wires, breadboards, printed circuit boards, battery etc.

[11]
1.5.2 Software Requirements:

1- Arduino Software (IDE)

The open-source Arduino Software (IDE) makes it easy to write
code and upload it to the board. It runs on Windows, Mac OS X,
and Linux. The environment is written in Java and based on
Processing and other open-source software.

2- Solid works:
Solid Works is a software tool suite used primarily for Construction
of Mechanical Designation. The software is used mainly to create
the design of the outer body and doing a simulation of it.

3- Proteus:
Proteus combines a superb mixed mode circuit simulator with
animated component models. It allows professional engineers to
run interactive simulations of real designs, and to reap the rewards
of this approach to circuit simulation.

4- Android Programming language.

The official language for Android development is Java. Large parts
of Android are written in Java and its APIs (application program
interface) are designed to be called primarily from Java.

[12]
 Chapter 2
Literature Survey

[13]
 Robotics is the combination of mechanical engineering, electrical
engineering and computer science that deals with the design,
construction, operation, and application of robots, as well as
computer systems for their control, sensory feedback, and
information processing. These technologies deal with automated
machines that can take the place of humans in dangerous
environments or manufacturing processes, or resemble humans in
appearance, behavior, and/or cognition. [6]

Many of today's robots are inspired by nature contributing to the

field of bio-inspired robotics.

2.1 Literature Review :-

Land-based robots, especially the wheeled ones, are the most

popular mobile robots among beginners as they usually require the
least investment while providing significant exposure to robotics.
On the other hand, the most complex type of robots is
the humanoid (akin to a human), as it requires many degrees of
freedom and synchronizing the motion of many motors, and uses
many sensors. This report contains some of the main things that
were taking our attention through the passes years about rough
terrain Robots:

[14]
2.1.1 SHRIMP rover built with Lego 2001.

This is an old project from back in 2001 or so. It is my attempt at a

SHRIMP rover. This robot chassis adapts passively to the surface
it is driving over. It can climb over many obstacles, including
books, a pillow and even stairs! It is really an amazing piece of
work, and is very simple to build. Each wheel is driven by its own
motor, so you will need six motors in total to build this chassis. The
rear motor is fixed permanently to the chassis body, and the
remaining five motors are on pivoting legs. As you can see, the
motor is directly connected to the drive axle via a worm gear.

The worm gear provides both torque and hold for the wheel. If the
motor stops rotating, the wheel is locked in place. Thus the robot
can hold itself in place on an oddly shaped obstacle. Each side of
the chassis has a pair of wheels mounted on legs. The legs are
connected by two cross bars and pivot at two points.

The crossbars are themselves connected to the chassis at two

points. Thus the leg pair can ride up and over an obstacle
independently of the main chassis body. The front wheel is
connected to the body but can pivot at both the body connection
and at the leg. The front wheel can ride up and over an obstacle
while the body trails behind. It then pulls the chassis over the
obstacle allowing the side wheels to drive. The rear wheel is
permanently engaged and drives the chassis over an object. [7]

[15]
 Figure 2.1 SHRIMP rover built with Lego 2001.

2.1.2 Rescue Robotic unit.

A Rescue Robotic unit for operation in unstructured environments,

upon fabrication, this unit has been tested in clean laboratory
environment as well as ill-conditioned arenas similar to earthquake
zones. The obtained result has been satisfactory in all aspects and
improvements are currently underway to enhance capabilities of
the rescue robotic unit for various applications.
The purpose of this project was to design and manufacture an
intelligent rescue robot unit. In rescue-like operations a person
may encounter difficulties in properly seeking and assisting the
victim, especially in unstructured environment. Therefore using a
robot for searching the injured as well as describing the best path
to reach the victim decreases the risk of a rescue operation. In
addition, it will increase the accuracy, safety, and the speed of a
rescue operation.
One of the challenging issues in the design of the rescue robots is
their ability to handle unstructured and unstable physical conditions

[16]
of the working environment. Therefore, a flexible robotics system
that can sustain difficult conditions with a dependable control
system is essential for the rescue team. On the other hand being
able to recognize the injured by checking the skin color, skin
tissue, and living signals such as temperature, voice and body
movement are important.
Shrimp rescue robot rover is one of the several laboratory robots
made at the Center of Excellence in Design, Robotics and
Automation (CEDRA). As a general rule, rover robots are more
adaptable and stable than walking robots. They are less
complicated and more efficient in unstructured environments. The
only deficiency in shrimp rovers is that they can‟t generally climb
too much. This Robot is guided and controlled by the rescue team
from the rescue station. The guidance system checks the
environment and robot conditions using microphones and cameras
which are fixed on the robotic structure. The rescue robot can be
navigated via an interface program.
This project was funded and sponsored by the Center of
Excellence in Design Robotics and Automaton (CEDRA),
Advanced Manufacturing Research Center (AMRC), and the Sharif
University of Technology .As we shown in Figure 2.2. [8]

[17]
 a. CEDRA_I Shrimp Rover, b.
Revised shrimp rover
Figure 2.2: Rescue Robotic unit.

2.1.3 Robotic Crawler Rover

The vehicle is essentially based on an all-wheel drive concept.

This is the only way of consistently ensuring an optimum drive
power to the wheels with best-possible traction. A positive "side-
effect" of a single-wheel drive system is the redundancy of the
drive motors. Sophisticated chassis kinematics was developed to
optimize the contact between the ground and all of the wheels.

An all-terrain concept is based primarily on ground clearance –

after all, why "climb" over something if you can "roll" over it. This is
why two different wheel suspension systems have been provided
on the vehicle body.
A special parallel architecture has been used for the side wheels.
This keeps the virtual center of rotation of the four-wheeled
intermediate chassis at an optimum point between the wheel
axels. The chassis itself, on the other hand, is positioned high
above the wheel axel.

[18]
In order to gain optimum advantage from the resultant ground
clearance, even in surmounting obstacles, the vehicle has also
been provided with a front and rear wheel. Special lever
kinematics are also employed to ensure that the front wheel is
always optimally guided on the traction surface, while the rear
wheel is fixed to the main body of the vehicle via an outrigger arm.

In purely mechanical terms, the special design of the vehicle, with

a front and rear wheel and 2x2 side wheels, means that the ground
contact of all the wheels is optimized, so that active control is not
necessary. Due to the swiveling capability of the front and rear
wheels, the turning circle of the Shrimp is also very small, in the
range of the vehicle length. Despite this maneuverability, however,
the Shrimp still exploits the main advantage offered by wheeled
vehicles: the drive friction is extremely low, so that virtually all the
output drive power is available for propulsion. There is therefore no
problem in using energy-saving drives with a back-up battery
system.

The sophisticated concept of the Shrimp Rover enables it to climb

over steps up to a height of double the wheel diameter. This
climbing ability outstrips all current concepts by far. The vehicle
has a high level of stability over difficult terrain, mastering front and
side inclination up to 40°.A low-cost version is largely comprised of
symmetrically designed individual components. With this model the
payload can also be picked up at the front or rear. The concept is
particularly suited for applications where the emphasis is on high
profitability or where losses can be expected.

[19]
The main fields of application could therefore be agriculture,
minesweeping robots, and exploration robots for industrial use.
The new vehicle concept from EPFL is based on an ingenious,
purely mechanical, rugged chassis. It is driven using low-cost
standard parts from the FAULHABER Group and controlled with
conventional components. Nevertheless, boasting superior
reliability, it is suitable both for sophisticated space travel
applications and for Earth-bound applications.

Figure 2.3 Robotic Crawler Rovers.

Its high level of efficiency in forward motion and its exceptional

climbing ability when encountering obstacles are the perfect
solution for universal applications on any terrain. [9]

[20]
2.1.4 Bluebotics Shrimp.

 Innovative kinematics

A passive structure is the key innovating feature of this robot: it

does not need to actively sense obstacles to be able to climb
them. Instead, it simply moves forward and lets its mechanical
structure adapt to the terrain profile.

 Overcoming made easy

With its ingenious mechanical structure, Shrimp III guarantees an

incredible mobility. It moves comfortably in all kinds of challenging
settings, overcomes vertical obstacles up to twice its wheel size
and can even climb stairs.

 A great research tool

Shrimp III is the ideal platform to develop navigation solutions for

challenging environments since only a little calculation power is
needed to ensure the rover‟s stability most of which is naturally
performed by the passive structure. [10]
Table 2.1 shown Bluebotics Company made table Specifications of
these robotics:

Dimensions 639 x 428 x 278 mm

Weight 5.4 kg (with battery)
Payload 3 kg
Max speed 0.35 m/s
Stability 40° pitch, 40° roll
Interface RS232

Table 2.1 Specifications of shrimp. Figure 2.4: Bluebotics Shrimp.

[21]
2.1.5 SOLERO.

The mechanical structure of SOLERO is similar to that of Shrimp,

an all-terrain rover developed at EPFL in 2005. This passive
structure shows excellent climbing abilities without any specific
active suspension control.
SOLERO has one wheel mounted on a fork in the front, one wheel
attached to the main body at the rear and two bogies on each side.
The parallel architecture of the bogies and the spring suspended
fork provide a high ground clearance while keeping all six
motorized wheels in ground-contact at any time. This ensures
excellent climbing capabilities over obstacles up to two times the
wheel diameter and an excellent adaptation to all kinds of terrains.
SOLERO is equipped with two computers communicating through
a crossover Ethernet cable. The computer called Solerovaio is a
laptop in charge of image processing. It acquires images from the
stereo-vision rig and the Omnicom through a fire wire bus and
transmits processed data to the second computer, called
soleropc104. This second computer has access to all the other
sensors and actuators of the robot. It reads data from an Inertial
Measurement Unit through an RS232 port and interfaces an I2C
bus through the parallel port. The devices attached to the I2C
serial bus are: six wheel controllers, three servo-controllers, one
angular sensor module (reading the three suspension angles) and
a device for the energy management of the rover. Soleropc104
acts also as a gateway for the rover subnet. A host computer
(soleroap) can connect to the subnet through a wireless Ethernet
interface. This allows, for example, downloading images, remote

[22]
control the rover through a graphical user interface and getting the
rover state online. [11]

Figure 2.5: SOLERO mechanical structure, prototype equipped with a solar panel.

2.2 Land-Based Robots Types.

1. TRACKED Robots.

A tracked robot is a robot that runs on continuous tracks instead of

wheels. Continuous tracks, also called tank treads or caterpillar
tracks.

2. Legs Robots (Walkers).

Walkers are robots that use legs instead of wheels or tracks.

These robots are harder to build than wheeled robots and can be a
nice challenge for an experienced builder. Walkers are designed to
imitate how animals (or humans) move.

[23]
 3. Wheeled Robots.

Wheels are by far the most popular method of providing mobility to

a robot and are used to propel many different sized robots and
robotic platforms

A) B)

C)

Figure 2.6: Land-Based Robots Types, A) Tracked Robot design, B) Walkers Robot,
C) wheels Robot.

[24]
 Table 2.2: Comparison between types of robot. [12]
Advantages
Tracked Robots  They are easy to steer.
 They operate well on difficult
terrain and can be turned in a 2. They are also relatively heavy
very confined space .
Legs Robots  Closer to organic or natural 
motion.
 Can potentially overcome large
obstacles and navigate very
rough terrain.
Wheeled Robots  Usually low-cost compared to
other methods
 Simple design and construction
 Abundance of choice
 Six wheels or more rival a track
system
 Excellent choice for beginners
[25]
Disadvantages
1. They require a comparatively
high drive power.
and there is a large amount of
wear on the chassis.
3. Travelling machines require
complex, active positional.
4. Tracks are more likely to
break than wheels from spikes
and axes.
Increased mechanical,
electronic and coding
complexity (not the easiest
way to get into robotics).
 Lower battery size despite
increased power demands.
 Higher cost to build.
 May lose traction (slip)
 Small contact area (only a
small rectangle or line
underneath each wheel is in
contact with the ground).
2.3 Design Basics:

Robotics spans multiple scientific and engineering

disciplines, so when you want to design a better robot you
should get some basic knowledge in these fields. How much
you should learn depends on how complex you want to
make your robot.

2.3.1 Physical Design:

2.3.1.1 Building Materials:
There is plenty of choice when it comes to picking the building
materials for your robot. However, not every material is a good
choice.
There are three groups of materials. Each of these three groups
have their own characteristics, possibilities and difficulties.
Note: There is a fourth group of materials called ceramics.
However this group is only marginally useful for robotics. [13]
State the types of material properties that are important to the
design of body Robot:
a- Wood
b- Metals (Aluminum, Steel, Bronze, Brass, and Copper).
c- Synthetic Materials (PVC, Polyvinyl chloride,
Polymethyl, methacrylate).
d- Composite materials.
e- Other Materials (Foamcore, Cardboard).

[26]
 2.3.1.2 :Types of wheels:-

The wheel is the most common moving element among other

possibilities including legs, flying, swimming and rolling. A wheel
provides at least speed, accuracy and stability for a robot, three
characteristics very important in designing and build robots.
Finding inspiration in everything, the researchers design many
types of wheels including standard, orientable, ball, and
omnidirectional wheels, depending on the design and
requirements.
 Standard Wheels

Most common wheels used in robotics is standard wheels.

This type of wheels is characterized by two degrees of
freedom and can run in front and back. The angle between
the robot frame and the wheel is constant while the center
of the wheel is fixed to the robot frame.

[27]
Figure 2.7: Standard Wheels. [14]

[28]
 Orientable wheels

Based on two types including center and off-centered

oriented, orientable wheels are standard wheels mounted to
a fixed or Omni-directional fork designed to catch the wheel.
Compared with standard wheels, these wheels are used in
robotic projects for balance and less or not at all to drive a
robot.

Figure 2.8: Orientable Wheels.

 Ball wheels

Based on a ball, these wheels have a total freedom of 360

degrees and like orientable wheels are used to balance a
robot. The ball can be built from metal or plastic and is
positioned on the frame with a holder.

Figure 2.9: Ball Wheels.

[29]
When choosing the wheels for your project you should
consider the type of motors you intend to use. The motors
speed and torque (turning force) will play an important role
in the final operation of your robot. The best wheel for your
robot depends on the design and requirements. [14]

2.3.2 Mechanical Components:

2.3.2.1 Bearings:

A bearing is a machine element that is used to enable rotational

or linear movement, while reducing friction and handling stress.
Resembling wheels, bearings literally enable devices to roll, which
reduces the friction between the surface of the bearing and the
surface it‟s rolling over. It‟s significantly easier to move, both in a
rotary or linear fashion, when friction is reduced this also enhances
speed and efficiency. There are numerous different kinds of
bearings that are designed to handle radial load, thrust load, or
some combination of the two. Because different applications
require bearings that are designed to handle a specific kind of
load and different amounts of weight.
 Thrust bearing

A thrust bearing is a particular type of rotary rolling-element

bearing. Like other bearings they permit rotation between parts,
but they are designed to support a predominately axial load.

Two type of it used ( Ball thrust bearings, Roller thrust bearings.

[15]

[30]
 A) B)

Figure 2.10: Bearings: A) Ball Bearings, B) Thrust Bearing.

2.3.2.2 Gears
Gears are mechanical parts with cut teeth designed to mesh with
teeth on another part so as to transmit or receive force and motion.
The cut teeth are also sometimes called cogs. In Robotics, Gears
are used to transfer rotational forces between axles. They can
change speed and direction. The axles can stand in any
orientation, however not all orientation can be done with 2 gears.
Commonly gears are used to reduce the speed of a motor. When
they reduce the speed, the torque of the output axle increases.
Common types of gears as used in Robots are explored below.
Each type of gear is used for different purposes and it has both
advantages and disadvantages.
1- Spur gear.
2- Bevelled gears.
3- Worm gear.
4- Rack and Pinion.
5- Internal gear. [16]

[31]
Gear train
The gear train is refer to using more than one gear together, in
order to enhance the ability of transmitting power and gears ratio.
We can use gear ratio as to the following formula:
Where: GR: gear ratio.
GR = N1/N2
N1: is the first gear on wheel.
N2: is the second gear on motor.
1- If N1 is equal N2, then the gear ratio equal 1.
2- If N1 is more than N2, then the gear ratio more than 1.
3- If N1 is less than N2, then the gear ratio less than 1.

Figure 2.11: Gear transmission.

[32]
2.4: control system.

2.4.1: Microcontroller:

A microcontroller (MCU) is a small computer on a single integrated

circuit containing a processor core, memory, and programmable
input/output peripherals. Program memory in the form of NOR
flash or OTP ROM is also often included on chip, as well as a
typically small amount of RAM. Microcontrollers are designed for
embedded applications, in contrast to the microprocessors used in
personal computers or other general purpose applications.

1- PIC controllers
Are roughly classified by Microchip into three groups:
baseline, mid-range, and high-performance.

A- Baseline PIC Family:

This group includes members of the PIC10, PIC12, and a PIC16
families. Examples: 10F200, 12C518, 16F506. The devices in the
Baseline group have 12-bit program words and are supplied in 6-
to 28-pin packages.

B- Mid-range PIC Family:

The mid-range PIC family includes members of the PIC12 and
PIC16 groups. According to Microchip, the mid-range PIC sell
have 14-bit program words with either flash or OTP program
memory. Those with flash program memory have EEPROM data
memory and support interrupts.

[33]
 C- High-Performance PIC Family:
The high-performance PICs belong to the PIC18 group. They have
16-bit program words, flash program memory, a linear memory
space of up to two Mbytes, and protocol-based communications
facilities. They all support internal and external interrupts and
have a much larger instruction set than members of the baseline
and mid-range families. [17]

2- Arduino:

Arduino is a tool for making computers that can sense and control
more of the physical world than your desktop computer. It's an
open-source physical computing platform based on a simple
microcontroller board, and a development environment for writing
software for the board. Arduino can be used to develop interactive
objects, taking inputs from a variety of switches or sensors, and
controlling a variety of lights, motors, and other physical outputs.

Arduino projects can be stand-alone, or they can communicate

with software running on your computer (e.g. Flash,
Processing, MaxMSP) the boards can be assembled by hand or
purchased preassembled; the open-source IDE can be
downloaded for free. The Arduino programming language is an
implementation of Wiring, a similar physical computing platform,
which is based on the Processing multimedia programming
environment. [18]

[34]
3- Atmel:

Atmel microcontrollers deliver a rich blend of efficient integrated

designs, proven technology, and groundbreaking innovation that is
ideal for today's smart, connected products. In this era of the
Internet of Things (IOT), microcontrollers comprise a key
technology that fuels machine-to-machine (M2M) communications.

Building on decades of experience and industry leadership, Atmel

offers proven architectures that are optimized for low power, high-
speed connectivity, optimal data bandwidth, and rich interface
support. By using our wide variety of configuration options,
developers can devise complete system solutions for all kinds of
applications. [19]

Atmel PIC Arduino

Speed Slow Moderate Fast
Memory Small Large Large
Architecture CISC RISC RISC
ADC Not Present Inbuilt Inbuilt
Timers Inbuilt Inbuilt Inbuilt
PWM channels Not Present Inbuilt Inbuilt

Table 2.3: Comparison between microcontrollers.

[35]
2.5: Actuation Devices.

Actuation Device is a type of motor that is responsible for moving

or controlling a mechanism or system. It is operated by a source of
energy and converts that energy into motion. There are several
different types of motors. Each motor type has several advantages
as well as disadvantages depending on a particular robots design.

2.5.1: Stepper motors:

A stepper motor is a brushless, synchronous electric motor that
can divide a full rotation into a large number of steps. The motor's
position can be controlled precisely, without any feedback
mechanism. This can negatively impact the accuracy of the parts.
It„s also difficult to find stepper motors that offer both high speeds
and torque. One typically has to be selected in favor of the other. It
can be a good choice whenever controlled movement is required.
They can be used to advantage in applications where we need to
control rotation angle, speed, position and synchronism. [20]

Figure 2.12: stepper motor.

[36]
 2.5.2: DC servo motors:

A servo motor works in a closed loop and is paired with an

encoder which provides an amplified feedback to the motor thus
constantly correcting its position on the machine. While more
precise, more powerful and less noisy than stepper motors, servo
motors are more expensive. Servo motors are faster moving point
to point and are better at accelerating very heavy loads than
stepper motors. Servo motors are more expensive than steppers,
perhaps double the price, or more.
They are generally just as accurate, if maintained in a proper state
of tune, however they rely on encoders to provide positioning
information back to the computer. [20]

Figure 2.13: DC servo motor.

[37]
 2.5.3: DC- motors:

A DC motor relies on the fact that like magnet poles repels and
unlike magnetic poles attracts each other. A coil of wire with a
current running through it generates an electromagnetic field
aligned with the center of the coil. By switching the current on or
off in a coil its magnetic field can be switched on or off or by
switching the direction of the current in the coil the direction of the
generated magnetic field can be switched 180°. A simple DC
motor typically has a stationary set of magnets in the stator and an
armature with a series of two or more windings of wire wrapped in
insulated stack slots around iron pole pieces (called stack teeth)
with the ends of the wires terminating on a commutator.

The armature includes the mounting bearings that keep it in the

center of the motor and the power shaft of the motor and the
commutator connections. [21]

Figure 2.14: DC motors.

[38]
 Stepper motor Vs. Dc Servo Motor:-

Characteristics Stepper Servo Motor

Higher cost due to the
No additional required
Cost additional required hardware
hardware for control.
for control.
Universality Wide range used Low range used

Frame Sizes Larger size. Smaller size

Torque supplied Lower torque Higher torque

Stepper motors are Servo motors may
Overload Safety unlikely to be damaged by malfunction if overloaded
mechanical overload. mechanically
Stepper motors usually
Flexibility in
have 1.8 or 0.9 degree Wide range of resolutions.
motor resolution
resolution
Stepper motors are very Servo motors are more
simple in design with no mechanically complex due to
Motor Simplicity
designed consumable their internal parts and the
parts. external encoders.

Table 2.4: Stepper vs. Dc Servo Motor.

o After the last review about the motors, we think that the
most convenient actuator for steering is The Servo
Motor, and the most convenient actuator for speed is the
DC- Motor.

[39]
2.6: Sensors:

A sensor is a device that detects and responds to some type of

input from the physical environment. The specific input could be
light, heat, motion, moisture, pressure, or any one of a great
number of other environmental phenomena. The output is
generally a signal that is converted to human-readable display at
the sensor location or transmitted electronically over a network for
reading or further processing. The resolution of a sensor is the
smallest change it can detect in the quantity that it is measuring.
Often in a digital display, the least significant digit will fluctuate,
indicating that changes of that magnitude are only just resolved.
The resolution is related to the precision with which the
measurement is made. [22]

 Sonic Sensors.

Sonic sensors use sound waves1, usually ultrasonic, through a

medium as their means of detection. The medium is typically the
atmosphere or a body of water. A pulse of sound is emitted from
some source. One or more receivers then pick up the sound wave
after it has bounced off any obstacles. This echo is then
interpreted in various ways to obtain information about an
obstacle.

 Ultrasonic Sensors:
Ultrasonic sensors use sound waves rather than light,
making them ideal for stable detection of uneven surfaces,
liquids, clear objects, and objects in dirty environments.
These sensors work well for applications that require

[40]
precise measurements between stationary and moving
objects. [23]

Figure 2.15: Ultrasonic Module.

* Ultrasonic sensor used in the project In order to help the

robot avoid obstacles that have diameter above 30cm.

2.7 Power source.

Though perhaps other power sources can be used, the

main sources of electrical power for robots are batteries and
photovoltaic cells. These can be used separately or
together:
 Batteries
Batteries are an essential component of the majority of robot
designs. Many types of batteries can be used. Batteries can be
grouped by whether or not they are rechargeable. Batteries that
are not rechargeable usually deliver more power for their size, and
are thus desirable for certain applications.
Various types of alkaline and lithium batteries can be used.
 Solar Cells.
 Fuel Cells
 Mechanical
 Air Pressure
 Chemical Fuel.

[41]
2.8 Control devices:

A robot could be controlled using a wide range of devices starting

with computers and finishing with mobile devices like smartphones
or tablets. Apps work under one of the major mobile platforms
(IOS, Android, BlackBerry, Symbian, and Windows Mobile). All
apps have to be installed onto a target smartphone or tablet. In
other words, you need physical access to the target device to
install the software. Robot controlled by using wireless
technologies like Bluetooth or Wi-Fi, anyone passionate about
robotics and with development skills could build apps to control
remotely robots. Wi-Fi Remote for robot enables act precisely on
each motor robot and have the real time information of the device
and run it from any location where Internet access is held. By
integrating the wireless interface and the embedded web server,
the management can be performed either from iPhone, IPod,
Android and Blackberry devices, as from a server or a PC with an
operating system for domestic use.

[42]
Chapter 3
Design and
Simulation

[43]
This chapter presents the design of the Shrimp Rover capable of
passively handling obstacles with sizes ranging up to two times the
wheel diameter. This design has shown great potential in exploring
hazardous environments.
Shrimp Rover Robot for rough terrain used in various applications,
The Shrimp is a research platform with extended climbing abilities
given by its passive mechanical configuration, in this robot has
been significantly modified in order to accommodate more sensors
and computational power.
The intent of this chapter is to describe the platform and the tools
developed in the framework of this research.

Figure: 3.1 Shrimp rover Robot.

The organization of the chapter is as follows: Section 1 presents a

Mechanical design of the Shrimp rover. Section 2 discusses the
Movement Scenarios of the robot. Finally, Section 3 explains the
Shrimp Rover Robot systems

[44]
3.1 The mechanical design

For Shrimp Rover Robot, the motion optimization is somewhat

related to minimizing slip. Minimizing wheel slip not only limits
odometric error but also reduces the overall energy consumption
and increases the robot‟s climbing performance. A good
distribution of wheel speeds and torques is necessary to fulfill this
goal.

The classification we generally use to study locomotion concepts

makes the difference between active and passive locomotion.
Passive locomotion is based on passive suspensions, which mean
no additional actuators to guarantee stable movement. On the
other hand, an active robot implies a closed loop control to
maintain the stability of the system during motion. Active
locomotion extends the climbing capability of a robot but increases
the complexity of the mechanics and the control.
The numerous motors and associated sensors have a negative
impact on power consumption, weight and reliability. On the other
hand, some well-designed passive concepts can offer very good
climbing performance without suffering from the drawbacks of
active designs. [24]
The Shrimp rover Robot has one wheel mounted on a fork in the
front, one wheel attached to the main body at the rear and two
bogies on each side.

[45]
 Figure 3.2: Shrimp Rover Robot.

3.1.1 Front and rear forks.

The robot‟s front fork has three roles and duties:

1- The spring makes it possible for wheels to touch the

ground all the time.
2- When the robot encounters an obstacle, the horizontal
force acting on the front wheel creates a torque around
the instantaneous rotating center of front wheel. The
four bar mechanism design in the front wheel shows
that the instant center is set under the horizontal line,
and therefore causes the wheel to move up
accordingly.

3- When the front wheel is going up, spring is

compressed and energy will be stored in the front
wheel. Although, other wheels are not in a good
condition during climbing and they don't touch the
ground completely, but this stored energy helps them
move up easier.

As shown in Figure: 3.3, the front wheel has an instantaneous

center of rotation situated under the wheel axis, which makes it
possible to get easily on an obstacle.

[46]
 Figure 3.3: front fork kinematics.

Because the instantaneous rotation center is placed below the

wheel axis, the fork passively folds for climbing an obstacle.

The rear fork is a fixed link, at the end of which a wheel is

mounted. It has a steering system to rotate the wheel.
 Four bar linkage.
The sum of the largest and the smallest link must be less or
equal to the sum of the other two links, ( ).

Figure 3.4: Four bar theory.

The theory talks about four different links coupled with each
other to get rotate a 360°. The front link designed height is
calculated based on this theory. It must be raising enough to
climb the stairs. It do not care about rotate 360 ° but it care
about links length. So, it must give this fork 300 mm height.
Look at the figures below.

[47]
 Figure 3.5: Four bar theory for front forks.

3.1.2 Bogies:
Parallel bogies are being used in this design, because they pass
the obstacles easier than classical bogies, although both have
similarities in kinematics and in kinetics.

Figure3.6: Types of bogies

Figure3.7: The Classical bogies on rough terrain.

[48]
 Figure3.8: The parallel bogies on rough terrain.

The parallel architecture of the bogies and the spring suspended

fork provide a high ground clearance while keeping all six
motorized wheels in ground-contact at any time. This ensures
excellent climbing capabilities over obstacles up to two times the
wheel diameter and an excellent adaptation to all kinds of terrains.

The front fork has two functions: its spring suspension guarantees
ground contact of all wheels and its particular parallel mechanism
produces a passive elevation of the front wheel if an obstacle is
encountered.

Figure3.9: virtual rotation axis of a bogie.

[49]
The bogies provide lateral stability. To ensure similarly good
ground clearance and climbing capabilities, their virtual center of
rotation is set to the height of the wheel axis using the parallel
configuration shown on Figure 3.7.

3.1.3: Robot seesaw system

Wheels are coupled so that the force distribution is the best as

possible. Spring and dimensions of the robot are designed in a
way that when it is standing on a planar surface, forces acted on
all six wheels are the same.

Figure3.10: Seesaw in robot.

3.1.4: Steering
In this robot, six wheels have separate drivers, the front and
back wheels have angle adjusting and controlling system. So the
steering causes speed difference in side wheels and adjust the
angle of front and back wheels. This steering strategy increase the
accuracy of robot maneuvers, and the robot can also turn in its
place with minimum slip.
The steering of the rover is realized by synchronizing the rotation
of the front and rear wheel and the speed difference of the bogie
wheels (skid-steering).

[50]
 Shrimp rover Robot main characteristics
The following table and Figure summarize the overall
characteristics Shrimp rover Robot. The robot‟s dimensions were
based on the standard dimensions of the stairs.
Note: all dimensions are measured in mm.
Table 3.1 Shrimp rover Robot main characteristics.
Rover’s main body mass (Inc. wheels,
12-15 kg
motors etc.)
Spring constant 357 N/mm
Wheel diameter 150 mm
Velocity 350 mm/s

Figure3.11: Overall mechanical dimensions of Shrimp Rover Robot (in mm)

[51]
3.2 Scenario of the robot walking:

1- Forward Movement:
We direct all the wheels in the forward direction and the six
motors drives straight in the front as seen in the next Figure.

Figure 3.12: Forward Movement Scenario.

2- Reverse Movement:
We direct all the wheels in the reverse (Backward) direction
and the six motors drives straight back as seen in the next
Figure.

Figure 3.13: Reverse Movement Scenario.

[52]
3- Turning around itself :

We direct all motors in the direction of rotation that we

want, but the wheel should be with an angle as shown in the
next Figure.

Figure 3.14: Turning around itself.

4- Navigation a steps or rough terrain.

The front wheel is going up, spring is compressed and energy

will be stored in the front wheel, this stored energy helps other
wheels

[53]
 Figure 3.15: Navigation a steps or rough terrain.

Then the Shrimp has the ability to climb steps of up to two times
the wheel diameter, a step of height 300 mm (wheel diameter
being 150 mm).

5- Robot flexibility in Convex/Concave environment.

Figure 3.16: Robot flexibility in Convex/Concave environment.

6- Standby :

We make all the motors turned off and the robot take it origin
position, as seen in the next Figure.

Figure 3.17: Standby Scenario.

[54]
They were the most used Scenarios in the robot, and that it's very
helpful and useful to the purpose that designed the robot for.

 Shrimp Rover Robot systems.

After we had explained mechanical design and the Scenarios

used. Now we will explain the branches of our robots designation:

3.3 Electromechanical Parts:

3.3.1 Drive motor:

As we know, the robot uses six motors to drive the wheels.

These motors must be able to drive the six wheels together
and produce motion in that way.

 Wheel slip model

The intent is to formulate a holistic model of a robot to control the

wheel motor torques in order to minimize wheel slip. The model
presented in what follows assumes a rule of proportionality
between the traction and the normal force on the wheel: „the more
pressure on the wheel the more traction it can carry before
slipping‟. This proportionality rule is not perfectly verified in all
circumstances. However, such a model is valid in most of the
cases and is appropriate because we are not interested in exactly
computing the forces at the interface but minimizing wheel slip.

[55]
A wheeled robot‟s motors must produce enough torque to
overcome any imperfections in the surface or wheels, as well as
friction in the motor itself. Therefore theoretically, a robot (small or
large) does not require much torque to move purely horizontally.
Obviously there will be more friction and resistance in a large robot
than in a small robot, though it is still exponentially less than when
a robot encounters an incline. In order for a robot to roll up an
incline at a constant velocity (no acceleration or deceleration) it
must produce enough torque to “counteract” the effect of gravity,
which would otherwise cause it to roll down the incline. On an
inclined surface (at an angle theta) however, only one component
of its weight (mgx parallel to the surface) causes the robot to move
downwards. The other component, mgy is balanced by the normal
force the surface exerts on the wheels.

( )
( )

In order for the robot not to slide down the incline, there must be
friction between the wheel and the surface. It is friction (f) that
“produces” the torque.

[56]
The torque (T) required is:

To select the proper motor, we must consider the “worst case

scenario”, where the robot is not only on an incline, but
accelerating up it.

Note now that all forces (F) are along the x and y axes. We
balance the forces in the x-direction:

[57]
Inserting the equation for torque above, and the equation for
mgx, we obtain:

( )

Rearrange the equation to isolate T:

( ( ))

( ( ))

This torque value represents the total torque required to

accelerate the robot up an incline. However, this value must
be divided by the total number (N=6) of drive wheels to
obtain the torque needed for each drive motor. Note that we
do not consider the total number of passive wheels as they
have no effect on the torque required to move the object
aside from adding weight.

(( ( )) )

The final point to consider is the efficiency (η) in the motor, gearing
and wheel (slip).

( ( ))

( )

[58]
This increases the torque required and compensates for
inefficiencies.

Total power (P) per motor can be calculated using the following
relation:

To find the current we must find Angular Velocity ( ), It is best to

select the maximum angular velocity to be able to find the
corresponding maximum power:

T is known from above. Knowing the maximum power and the

supply voltage (V) which the builder chooses, we can find an idea
of the maximum current (I) requirements:

The two equations above are used to produce the following

relation:

Based on discussed above, we will use DC Motor to be

good choice for this application.

[59]
 Energy Based Analysis
From the energy viewpoint, the motors must be powerful
enough to provide the necessary energy for upward motion
(climbing stairs) and a change in the spring‟s length. The
disordered situation of robot wheels during motion prevents
motors to inject their energy all the time. Therefore, when the
robot moves in horizontal path, the energy is stored in the
spring, and when it moves upward, this energy is released.

3.3.2 H-Bridge Circuits for Driving Motors:

The H-bridge is an electronic circuit that enables a voltage to

be applied across a load in either direction. These circuits are
often used in robotics and other applications to allow DC
motors to run forwards and backwards.

 The Theory:
When it comes to constructing an H-bridge for DC motor
control, the main things you need to understand how the H-
bridge itself works.
The next Figures show you where the name comes from
and how it works.

[60]
 Figure 3.18: H-Bridge first mode.

Figure 3.19: H-Bridge second mode.

The two pictures seen above shows you the two possible modes of
operation. Since there are only two digital inputs, you only ever

[61]
need to turn one side on at a time. The two inputs should never be
turned on at the same time; this will ruin your power transistors.

But as you can see, When we apply an 'on' +5v signal to one
side of the H-bridge, it actives two transistors, allowing current to
flow through the motor. This turns the motor one way.
Similarly, when we activate the opposite side with an 'on' +5v
signal, the other two transistors are turned on and the DC motor
spins in the opposite direction. [31]

3.3.3.1: Steering Stepper Motor H-Bridge Circuit:

As we mention in chapter 2 after making a comparison

between the Stepper motor and the Servo DC-Motor, we
induce that because of the steering there is no need for high
speed, high torque and no availability of servo, then the most
convenient motor is the Stepper Motor.

 Stepper Motors Integrated Circuit H-Bridge

(L298N):

L298N Dual H-Bridge Motor Driver Integrated Circuit was used

to drive the steering stepper motors. The circuit will allow you to
easily and independently control two motors of up to 3A each in
both directions.

It is ideal for robotic applications and well suited for connection

to a microcontroller requiring just a couple of control lines per
motor. It can also be interfaced with simple manual switches,
TTL logic gates, relays, etc.

[62]
 The circuit also offers a bridged mode of operation allowing
bidirectional control of a single motor of up to about 4A. [25]

Features:

 Motor supply: 6 to 46 VDC

 Output Power: Up to 2 A each
 Total DC current up to 4A
 Current Sense Outputs
 Enable and Direction Control Pins
 External Diode Bridge Provided for Output.

Figure 3.20: L298 dual H-Bridge Circuit.

After looking at the cost and effort we decide to choose L298N H-

Bridge IC for Stepper Motors.
The current limitations of the IC L298N for stepper because the
stepper runs at 1.2 Amp and the L298N can take ampere up to 4
Amp.

[63]
 3.3.3.2: DC Motors H-Bridge Circuit:
A. L298 Dual H-Bridge Motor Driver Bored.
This drive also has a brake function can be quickly stopped the
motor, brake quickly, braking obvious, easy to implement this
feature. The drive uses the full two half-bridge driver chip + low
resistance N-channel MOSFET components. Complete two half-
bridge driver chip reliable drive mode, the MOSFET switching
losses to a minimum. Improve power utilization. MOSFET driver
chip comes with hardware brake function and power feedback.
N-channel MOSFET IRF3205 MOSFET, use two dedicated half-
bridge driver chip on the top tube using the bootstrap capacitor,
so that the tube has enough drive voltage of the MOSFET
channel can be opened quickly, improve motor acceleration
curvature, but also quickly for the motor brake. This allows the
trolley can quickly start can quickly kill the car. The driver can
operate at 0% -99% of the duty cycle of the PWM modulation;
the motor driving voltage can be obtained sufficiently.
Parameter：
Rated voltage: 3v-36v (can be customized according to the user)
Rated Current: 15A
Peak current: 30A
Dimensions: length 108mm, width 58mm. [26]

Figure 3.21: L298 Dual H-Bridge Motor Driver Bored.

[64]
3.4: Control Parts:

Figure 3.22: Controlling from the user side.

As shown in Figure 3.20. The main controller in the robot is used,

by smart device, while it is doing the following tasks:

1- Rotate about it self

2- Move in any direction
3- Controlling speed.
4- Stand by to the wheel to stop robot.

The MCU will send the control signal for each wheel's
actuators by individual microcontroller. Each wheel will be
controlled by single motor and every motor have driver. It
owns that mechanical mechanism that being able to move
like shrimp to cross any unconstructed environment.

Data will be sending by Bluetooth technology using Bluetooth

module hc-05 connected with arduino microcontroller.

[65]
 Figure 3.23: Schematics of the control system.

Figure 3.24: Block diagram of control circuit of the robot.

Data are receiving from Smart devices is analyzing in the main

microcontroller "arduino mega 2560" that control all other circuits.
The microcontroller distributes commands to all motors.

[66]
 Figure 3.25: Arduino mega 2560.

3.5. Mechanical Parts:

3.5.1 Caster and Bracket:

A caster is a complete wheel and horn assembly which, when
attached to a piece of equipment, allows that item to move.

Figure 3.26: Types of caster.

[67]
  There are two basic types of casters:
1- Rigid or Stationary Casters:
Have a rigid horn and wheel assembly which permits only a
straight-line movement.

2- Swivel Casters:
Have a swivel horn and wheel assembly that will allow rotation
through 360 degrees, which permits movement in any direction

3.5.2 Types of caster will be used in our project:

a) b)

c)

Figure 3.27: Caster will be used in our project. a) Front and rear fork
wheel caster b) Front and rear fork wheel caster c) Motors holder

[68]
 Chapter 4
Design implementation

[69]
It is the time to build up a practical design that reflects our
vision. This process reveals the actuators, manufacturing
and system mechanism that were selected to build up the
project.
Now in this chapter the practical work of Shrimp Rover
Robot fabrication and implementation will be explained:

 Mechanical system.
 Electromechanical system.
 Control system.

[70]
4.1 Mechanical Parts:

4.1.1 Robot Main Body:

4.1.1.1 Down side: A semi-hexagonal and semi-
rectangle steady platform structure made of Aluminum, the
semi-rectangle has a rectangular form from front side which
has a removed side for the front fork.
The Down side has some holes to connect a slipway.
The slipway that was put on each side to carry the upper
side, spacers, and connects front fork, rear fork and parallel
bogies.
Note: all dimensions are measured in mm.

Figure 4.1: Down side and slipway in SolidWorks.

[71]
 Figure 4.2: Down side with slipway

4.1.1.2 Top Side: Divided into two forms:

1- The front top form:

Rectangular frame made of fiberglass, has a rectangular
form from the front side which has removed side for the front
fork, laid on upper spacer, two sides, and front slipways.
It has some holes for connecting bolts.
Note: all dimensions are measured in mm.

Figure 4.3: Upper side: front upper form in SolidWorks.

[72]
 Figure 4.4: Top side: front top form.

2- The rear top form:

Semi-Hexagonal frame made of fiberglass, laid on lower
spacer, and rear slipway. It covers the drivers, arduino and
main circuits. Installed fans for Ventilation and heat
dissipating.
It has some holes for connecting bolts.
Note: all dimensions are measured in mm.

Figure 4.5: Top side: rear top form in SolidWorks.

[73]
 Figure 4.6: Top side: rear top form.

1. Spacer: Rectangular frame made of Aluminum.

The spacer separates between upper and lower sides.
Three spacers are used to connect the two sides of
slipway together and carry the two top sides.
Note: all dimensions are measured in mm.

Figure 4.7: Spacer in SolidWorks.

[74]
 Figure 4.8: Spacer.

2. Front fork

The front fork shows the four-bar-mechanism design, made

of aluminum, on the first side connected to the front slipway.
In the other side a wheel is mounted. Every pair link has a
ball bearing between them to enable rotational movement
and reducing friction.

Figure 4.9: Front fork.

[75]
 Figure 4.10: Front fork in SolidWorks.

3. Rear fork

The rear fork is a fixed link, made of aluminum, on the first

side connected to the rear slipway. In the other side a wheel
is mounted, also has a thrust bearing to enable rotational
movement and reducing friction.

Figure 4.11: Rear fork.

[76]
 Figure 4.12: Rear fork in SolidWorks.

4. Bogies

As it is mentioned in chapter two, parallel bogies used in this

design, because they pass the obstacles easier than classical
bogies. Of course the design had a parallel bogie in each side,
made of aluminum, connected to the two sides of slipway, each one
has two mounted wheels in their end sides, and each linked pair
has a ball bearing between them to enable rotational movement
and reducing friction.

Figure 4.13: parallel bogies.

[77]
 Figure 4.14: parallel bogies in SolidWorks.

4.1.2 Casters and Wheels:

5. Casters: There are three forms of casters were used in the
project.
1- Front and rear fork wheel caster that will carry the Stepper
motor.
2- Front and rear fork wheel caster that will mount DC motor.

3- Motor holder to carry DC motor connected with front fork,

rear fork, and parallel bogies wheels.

Figure 4.15: Casters.

[78]
(1) (2)

(3)

Figure 4.16: Casters in SolidWorks.

Wheels: Rounded molded aluminum wheels covered by rubber for

movements, with a gear mounted on the front and rear wheel for movement
transmitting.
Note: all dimensions are measured in mm.

Figure 4.17: Wheels in SolidWorks.

[79]
 Figure 4.18: Wheels.

1- Bearing: It is an important mechanical element. Many bearings

were used in different places in the project such as front and rear
fork and two sides of parallel bogies. Bearing was used for
different purposes such as enabling rotational movement,
reducing friction and handling stress. Two types of bearing are
used ball and thrust. A thrust bearing is like other bearings, it
permits rotation between parts, but it is designed to support a
predominantly axial load.

Figure 4.19: Thrust and Ball Bearing.

[80]
6. Gears:

Plastic Gears for speed and torque ratio.

There are two gears in the front fork, the first has 10 teeth
installed on shaft stepper motors, and the second has 35 teeth
that installed in the wheel. In the rear side there are also two
gears made of plastic and have the same teeth.

Figure 4.20: Gears in SolidWorks.

[81]
 Figure 4.21: Gears.

7. Bolts and Nuts: They are used for purposes of holding and
connecting, there are different lengths and different diameter.

Bolts and nuts were used to connect ball bearing, spring, caster,
thrust bearing and big gear together in the front and rear fork.
Bolts and nuts were used in the caster to hold wheels and install
top and down with the Spacer, also to connect all the parts
together.

Figure 4.22: Bolts and nuts.

[82]
8. Spring

The spring was mounted in the front fork. The spring makes it
possible for wheels to touch the ground all the time. When the front
wheel is going up, spring is compressed so the energy will be
stored in the front wheel. The stored energy helps the wheels move
up easier.

Figure 4.23: Spring.

[83]
4.2 Electromecanical Parts:

4.2.1 Stepper Motor: The type of motor that used for steering
and changing the direction of the robot.
KH42KM2-911

Connection

PIN1 -Orange- B-

PIN2 -Blue- B+

PIN3 -Red- A+

PIN4 -Yellow- A-

Specifications:

 Series: 17PM
 Type: Standard
 Coil Type: Bipolar
 Supply Voltage: 12-42VDC
 Current :1.3A
 Revolution per min: 300
 Step Angle: 1.8°
 Diameter - Body: Square 1.65" (42.00mm)
 Length - Body: 1.22" (31.00mm)
 Diameter - Shaft: 0.196" (5.00mm)

Figure 4.24: Stepper motor.

[84]
 4.2.2 DC Motor:
Used for move and speed the wheels of the robot forward and
reverse.

Motor Specifications:
Table 4.1

Manufacturer ID ADRS550SH
Nominal voltage: 18V DC
Operating voltage: 3-24V

No load speed (min.): 19,000rpm

No load current: 1.2A

Stall current*: 76.5A

Max. Efficiency current: 8.5A

Max. Efficiency power output: 104.6W

Max. Efficiency torque: 600g-cm

Stall torque*: 5700g-cm

[85]
Figure 4.25: DC-motor with gear.

[86]
4.3 Control Parts:

As the figure is shown, the main controller in the robot is used by smart
device that sends data by Bluetooth technology using Bluetooth module hc-
05 connected with arduino microcontroller that distributes commands to all
other circuits.

9. Smart device.

Smart device has android environment, so the installed android program is

used by device Bluetooth technology will be qualified for sending signal
order.

The order can be:

1. Start and stop motors.
2. Change the direction of motors.

[87]
Figure 4.26: installed android program.

3. Bluetooth module.

Bluetooth module hc-05 is used to receive the signal that was sent
by smart device. It's also connected to the arduino.

Figure 4.27: Bluetooth module hc-05.

[88]
 Figure 4.28: Bluetooth module hc-05 with arduino mega.

After that, the Arduino sends commands to the other

circuits that control the motors according to the signal
order.

[89]
4.3.1 Drivers of Motors:
4. Stepper Motor Driver: Electrical circuit used to control the
Stepper Motor Left, Right (change direction of robot).

The robot used two IC L298N as a driver for each stepper motor,
it can work in voltage range from 12 to 36v and max current 3
amps.

Figure 4.29: Stepper driver circuit.

5. DC Motor Driver: Electrical circuit used to control the DC Motor

Forward, Backward.

In the design MOSFET is used because it supports voltage until

55v and current until 110 amps. The driver consists of 6 Mosfet,
supports current until 15 Amp rating current and 30 Amp max
current. The robot has six driver circuits for each motor.
[90]
Figure 4.30: DC driver circuit.

[91]
4.4: Assembly.
After implementation and collecting all electrical and mechanical
components, the assembly process had been established taking
into consideration high degree of care and deliberate step by step
parts.

The assembly process started with coupling the two main sides
with slipways together by bolts and nuts. Front fork, rear fork, and
bogies were also assembled separately and the other components
too. At the end the model was assembled.
The following figures illustrate the progress in assembling:

 First stage: main body with slipways, front and rear fork.

Figure 5.1: First stage.

[92]
 Second stage: parallel bogies with main body.

Figure 5.2: Second stage.

[93]
 Third stage: Top side and spacers with main body, front and rear fork
electromechanical.

Figure 5.3: Third stage.

[94]
 Fourth stage: wheels with dc motors and casters and the first view of robot.

Figure 5.4: Fourth stage.

[95]
 Fifth stage: the final wheels form, the dc drivers test, and painted robot view.

Figure 5.5: Fifth stage.

[96]
 The final view stage.

Figure 5.6: Final view.

[97]
4.5: Encountered Problems of Shrimp Rover Robot:
1. Mechanical Problems:

1- Down side

The down side was curved because of the load above. So the
bottom spacer was put to solve that problem.

2- The wheels
In the wheels design, that should be made of echelon because
of the weight issue, but in Gaza market the echelon and its
turning process are too expensive, so the molded aluminum was
used then it was turned to make the wheels. Many holes were
drilled in the wheels to reduce the wheels’ weight.

2. Electromechanical Problems.

1- Stepper Motors.
We preferred servo motor compared with stepper motor for
guide and changing direction, but our targeted motors couldn‟t
be found, so the stepper motors were used, and the related
first problem was the weakness of torque.
We try to solve that by using gear ratio in the front and rear
motor. Gear ratio is 10:35, the first gear is 10 teeth which were
put in the stepper shaft, and the second is 35 teeth which put
in the wheel.

[98]
 2- DC Motors.

It was difficult to find the project's needs of dc motors because of

high cost, so second-hand motors were used and that what we
found in the market (Drill machine motor).

Using second hand-motors created some problems.

 A high rating current is pulled by the motor.

 The motor torque is weak.

3. Electrical problems.
1- DC-Drivers

The big facing problem is Dc driver motor. Trying to solve it

through designing more than one driver, but it was burning, till we
succeeded in designing the required Control circuit of the DC-
Motor. Propellers and heat desperations were used to decrease
the heat.

Note: Ready-made driver circuit was purchased from abroad but

it didn't arrive.

 Power source problem.

Batteries were not used because of the amount of current that

withdrawn by the motors is high, so the required batteries in the
market could not be found.

[99]
 4.6: Project Cost Table:
Components Price(NIS) Quantity Total(NIS)

Arduino Mega 2560 320 1 320

Bluetooth module 120 1 120

Dc motor 30 6 180

Dc Driver motor 90 6 540

Stepper motor 30 2 06

Stepper driver motor 60 2 120

Top 30 - 30

Down 40 - 40

Links 100 - 100

Spacers 3 3 9

Wheels 60 6 360

Ball Bearings 5 18 90

Thrust bearing 30 2 60

Spring 25 1 25

Gears 150 2 300

Bolts and nuts 40 - 40

Others 134 - 134

Total(NIS) 2528

Table 4.2: Cost of MTM robot.

[100]
 Conclusion.

The Shrimp Rover Robotics System with its novel mechanical

design “Shrimp Rover” has been briefly described. The shrimp
mechanism was shown to provide great flexibility in the robot
system to come over obstacles, and successfully pass through
unstructured environments.

 Future work.

We go ahead to rebuild the robot project to achieve all our goals.

And we are ambitious to develop the robot design to be able to
prepare a map for the environment. These tasks will be performed
by the operator using the video received from the cameras that will
be mounted on the robot. It is able also to recognize the victim
identification by checking the skin color, skin tissue, and living
signals such as temperature, voice and body movement are
important. We hope to continue in developing further applications
which serve the community.

[101]
APPENDIX.
APPENDIX A: Dc Driver Test.

The main drivers that made and didn't work and what is the problem
of each one? Are described in more detail below.

 The first driver.

Ready-made driver has a BC547 NPN Transistor and MOSFET‟s

pairs. All of them are an NPN type MOSFET. The Mosfet was
burned and the driver didn't give the required results.

Figure 6.1: First DC driver circuit.

[102]
  The second driver.
The Mosfet was burned and the problem was in the diode. Its need
to high current diode. When the diode was changed the Mosfet
were overheat.

Figure 6.2: Second dc driver circuit.

[103]
  The third driver circuit.

It worked as a simulation but it didn't work practically.

Figure 6.3: Third dc driver circuit.

[104]
 APPENDIX B: Software Code
Software Code:
 The main code: we write this code to run it on the main
Arduino, in order to control the other circuits.
#include <Stepper.h>
if(in=='w')
const int stepsPerRevolution = 200;
{
int
mota1max=255,mota2max=255,motb1max=255,motb2 analogWrite(motA1,150);
max=255,inByte;
int motA1=2,motA2=6,motB1=5,motB2=8; analogWrite(motA2,150);

int motA1r=3,motA2r=7,motB1r=4,motB2r=9; analogWrite(motB1,150);

int postion=0; analogWrite(motB2,150);

char in='h'; ;
Stepper myStepper1(200, 20, 21, 22, 23); }
Stepper myStepper2(200, 24, 25, 26, 27); else if(in=='s')
//bool inpos=true; {
void setup() {
analogWrite(motA1r,150);
// put your setup code here, to run once:
analogWrite(motA2r,150);
analogWrite(motB1r,150);
myStepper1.setSpeed(25);
analogWrite(motB2r,150);
myStepper2.setSpeed(25);
}
else if(in=='a')
pinMode(motA1,OUTPUT);
pinMode(motA2,OUTPUT); {

pinMode(motB1,OUTPUT); if(postion!=20){

pinMode(motB2,OUTPUT); movestip(-20);}

pinMode(motA1r,OUTPUT); analogWrite(motA1r,150);
pinMode(motA2r,OUTPUT); analogWrite(motA2r,150);
pinMode(motB1r,OUTPUT); analogWrite(motB1,150);
pinMode(motB2r,OUTPUT); analogWrite(motB2,150);
Serial1.begin(9600); }
}
void loop() {
if (Serial1.available()) {
in = Serial1.read();
}

[105]
 else if(in=='d')
{
if(postion!=20){
movestip(100);}
analogWrite(motA1,150);
analogWrite(motA2,150);
analogWrite(motB1r,150);
analogWrite(motB2r,150);

}
else if(in=='h') {

analogWrite(motA1,0);
analogWrite(motA2,0);
analogWrite(motB1,0);
analogWrite(motB2,0);
analogWrite(motA1r,0);
analogWrite(motA2r,0);
analogWrite(motB1r,0);
analogWrite(motB2r,0);
movestip(0);

}
}
void movestip(int x){
myStepper1.step(-x);
myStepper2.step(x);
postion=x;
}

[106]
 References:

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10, 2001).

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[107]
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