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Pac-King: Placement of IR Sensors on Line Following Robot and Construction of a Gripper and Lift
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Pac-King : Placering av IR Sensorer på Linjeföljarrobot och Konstruktion av ett Grepp och Lift (Swedish)
Abstract [en]

Line following robots are a practical mechatronics solution in a world that is becoming more and more automated. With added gripping and lifting abilities, a very versatile robot can be created. The goal of this thesis was to create a prototype that could navigate a black line using infrared sensors whilst gripping and lifting a package. A working prototype was built and five different sensor placements were evaluated to assess which was optimal for linefollowing. The results showed that too close placement of the sensors led to a less stable system while more distance between the sensors made a faster and more accurate system.

Abstract [sv]

Linjeföljarrobotar är en praktisk mekatroniklösning i en värld som blir allt mer automatiserad. Med grepp- och lyftförmågor kan en väldigt anpassningsbar robot skapas. Målet med detta arbete var att skapa en prototyp som kunde navigera en svart linje med hjälp av infraröda sensorer medan den greppade och lyfte ett paket. En fungerande prototyp byggdes och fem olika sensorplaceringar utvärderades för att bedöma vilken som var optimal för att följa en linje. Resultatet visade att för nära placering av sensorerna skapade instabilitet. Ett större avstånd mellan sensorerna var att föredra då detta gav ett snabbare och stabilare system.

Place, publisher, year, edition, pages
2019. , p. 74
Series
TRITA-ITM-EX ; 2019:25
Keywords [en]
Mechatronics, Line Following Robot, Infrared sensor, Gripper, Lift, Robotics
Keywords [sv]
Mekatronik, Linjeföljarrobot, Infraröd sensor, Grepp, Lift, Robotik
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264510OAI: oai:DiVA.org:kth-264510DiVA, id: diva2:1373885
Supervisors
Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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