Final Project Journal

Project Ideation

1- Tell us about the idea of your project. Why do you care about this? What were you inspired by? Include images and videos of similar projects

I tends to make a wheel chair that can up and down stairs provided with more options such as LCD that show the speed and temperature and humidity so when the temperature equal 15 or less than warns the person that he didn't have to go and make a noise. also provide with LDR module it sense the lighting when its dark the lamps will open directly. and also provide with ultrasonic so if there is drag it will stop. so disabled people can be independent. while the discussion with instructors I decide to make the mechanism only with options that I made in week 7.

after many research of mechanism that can up and down stairs i decided to make a rocker bogie mechanism this mechanism can up and down stairs smoothly.

this links that guided me

1- https://www.youtube.com/watch?v=qtaS_W2WnH4

2- https://www.youtube.com/watch?v=xBxFkS_f9jE&t=9s

Project Construction

2- Explain the CAD process of your project. How did you use the software to design your project? (List the softwares/tools/materials...etc that you used)

software programs :

fusion 360

Arduino

laser work

steps of design:

1- first design I already designed chair with real dimensions with rocker bogie I made the bogie with 40*33 cm and back with 40*40 cm^2 and base with 30*40 cm^2 control box with 200*250*150 cm^3.. I made a sides of chair with right side I tends to put a push button and LCD screen to show temperature and humidity and speed to show if person can go out or not.

so, I displayed on instructor and told me it's very big so I have to reduce the dimensions very much.. I reduced it and go to lab and cut with laser cutter and Realised that it still very big... I reaslised that after cutting two sheet of plywood. so I return to design and modulate the dimension and reduce bogie 10 cm to be 32.7*19.5 cm^2 and 14.3*26.3 cm^2 and canceled back and sides and reduced base to 20*15 cm^2 and designed the control box up the base with 150*150*50 cm^3

and then made mounting the components from grab cad

search on grab cad from google and log in and search about yellow gearbox DC motors and Arduino uno and H-bridge lm298 and download step files and up load on fusion and insert component on file. then make join for face of dc motor and center face of bogie leg and make 15mm distance from bottom to motor.

when I finished from assembly and and modifications and mounting I found that there is 40 sketches and don't know where are right sketch for the part so I made a projection for each part

select the part and create new sketch.. create.. project.. select the part..ok

this step of making projection..

so I collect all sketches in one file to facilitate to save it as dxf file to import in laser work..

3- Explain the fabrication process of your project. How did you use the machine to fabricate your project? (List the softwares/tools/materials...etc that you used)

To prepare the file for leaser cutting:

I turned on the laser cutting machine and made sure that the switches are on.

downloading the file into the laser cutting machine after i named it.

putting the plywood sheet in the workspace area and made sure by the lens that the distance from the nozzle and the sheet is suitable.

I made sure that the nozzle starts from the origin.

choosing the file name and press work frame to know the working area and finally, press start.

All the lines are to be cut thoroughly with speed of 20m/s and power of 70%.

first step I decided to make small bogie leg like sandwich to put bearing between them.. after collect all legs and try to rotate legs I found that the bearing didn't act his job.. so I tried to make small part and fix at the end of side and try to rotate.. found that bearing didn't act his job.. after many tries to fix bearing to act that leg rotate smoothly.. finally I cut another big leg part and make outer diameter of bearing instead of diameter of screw so I could fix bearing and small leg rotate smoothly.. so I fixed I small leg only then I tried to fix the base with and not fix with the long leg of bogie because if we fix the base with long leg of bogie it wouldn't rotate so I made the small part in design to separate between bogie and base only use one screw M8

and fix the small part with with base.. then fix the control box side by side with slots and screw M3.. then fix wheels with motors.

when I collect wood with each other I focused on being all Motors on the same side to make wheels on the same line..

when I finished from collecting I found that when bogie start its motion the control box tumbled over so I must make a limited path for the base so I created a path for nail in the small part that fixed on the base and a path for nail in the long leg of bogie so the control box rotate in limited motion..

finally when the bogie on I found that the legs open so I put The rectangle part between two legs front and back to work exactly..

The material I used :

1- laser cutting machine 2- ply wood

Rocker Bogie

2 part of small legs 14.3*26.3 cm^2

2 parts of long legs 32.7*19.5 cm^2

2 of small parts that connect base with long leg of bogie 15*4cm^2

1 part of base 15*20 cm^2

2 rectangle parts to fix legs of bogie 4*21 cm^2

4 side of control box 150*50

1 above side of control box 150*150

4 screws M8 5cm length

12 screws M3 12cm length

16 screws M3 2 cm length

6 DC motors

2 H-bridge Lm298

1 Arduino Uno

battery 9 v

push button

mini breadboard

jumpers male-female and female-female and male-male

Project Electronics & Power Management

4- Describe your electronic circuit. What are the input and action components? What is the function of each? How do the components integrate together to form your smart system? (List the softwares/tools/components...etc that you used)

I used Arduino Uno and 2 H-bridge and battery and push buttons and jumpers and 6 DC motors

Arduino Uno is the brain of the project. Arduino can read inputs and make actions such as push buttons tends to activate motors.. we send a instructions to micro controller and make it with Arduino soft ware and wiring the component on Arduino board..

H-bridge it is a device that drive the motor and control the direction of the motor it have 4 out put can control 3 motors 2 out put for 1 motor and 2 out put for 2 motors.

and there are 3 ports 1 for 9v , 1 for 5 v , 1 for ground.. there are 6 pens.. 1 enable must connect with analog pen and 2 input to control connect in digital or analog pen on 1 motor and 1 enable and 2 input to control on 2 motors..

battery used to be a power source.. and push buttons to open and close the circuit..

the input is push button and action are motors that make a rotational motion and make the bogie go and back and right and left..

the H-bridge as shown above it controlled the direction when you set one out put high and the other output low so the motor rotate in direction when you set the low pen high and the other low the motor rotate in the opposite direction.. I followed this picture and connect one motor in two output and two motors in two outputs and second H-bridge the same wiring..

the first H-bridge

connect 2 motor in 12-13 digital pens and 10 analog pen

connect 1 motor in 2-4 digital pens and 6 analog pen

the second H-bridge

connect 1 motor in 7-8 digital pen and 9 analog pen

connect 2 motor in A0 and A1 as digital pen and 5 analog pen

Bluetooth module have 4 pens VCC, GRD,RXD,TXD

connect VCC with positive of battery

connect GRD with the ground

TXD,RXD with 0,1 pens of Arduino Uno

the negative is the same for all ..

5- What is your power source? How did you select the suitable power source for your project? (List the softwares/tools/components...etc that you used)

I used a battery because the bogie move from place to another so it can't connect with adapter..

I used a 7.4V battery to provide 2 H- bridges and 6 motors and Arduino..

I connect 2 H-bridges in Parallel so the Arduino take 5V from the battery or more than.. I connect 5V pen of Arduino with the positive pen of battery so the Arduino will open and H-bridge take 5V from Arduino so IC will open and take 7.4V from battery and rotate the motors.. Bluetooth module take 7.4volt from battery..

Vin pen of Arduino board connect with 5V of H-bridges it provide with 5volt

all components are connected in parallel..

Project Programming

6- Describe the code of your project. How did you program each function of the project?

// C++ code

char IncomingData='0';

void setup()

{

Serial.begin(9600);

pinMode(6, OUTPUT);

pinMode(9, OUTPUT);

pinMode(7, OUTPUT);

pinMode(8, OUTPUT);

pinMode(2, OUTPUT);

pinMode(4, OUTPUT);

pinMode(5, OUTPUT);

pinMode(A1, OUTPUT);

pinMode(A0, OUTPUT);

pinMode(10, OUTPUT);

pinMode(12, OUTPUT);

pinMode(13, OUTPUT);

}

void loop()

{

while(Serial.available()>0)

{IncomingData = Serial.read();

Serial.println(IncomingData);

}

if (IncomingData == 'A')

{analogWrite(6, 180);

analogWrite(9, 180);

analogWrite(10, 180);

analogWrite(5, 180);

digitalWrite(7, HIGH);

digitalWrite(8, LOW);

digitalWrite(2, HIGH);

digitalWrite(4, LOW);

digitalWrite(12, HIGH);

digitalWrite(13, LOW);

digitalWrite(A0, HIGH);

digitalWrite(A1, LOW);}

if ( IncomingData == 'B'){

analogWrite(6, 180);

analogWrite(9, 180);

analogWrite(10, 180);

analogWrite(5, 180);

digitalWrite(7, LOW);

digitalWrite(8, HIGH);

digitalWrite(2, LOW);

digitalWrite(4, HIGH);

digitalWrite(12, LOW);

digitalWrite(13, HIGH);

digitalWrite(A0, LOW);

digitalWrite(A1, HIGH);}

if (IncomingData == 'C'){

analogWrite(6, 180);

analogWrite(9, 180);

analogWrite(10, 180);

analogWrite(5, 180);

digitalWrite(7, HIGH);

digitalWrite(8, LOW);

digitalWrite(2, LOW);

digitalWrite(4, HIGH);

digitalWrite(12, LOW);

digitalWrite(13, HIGH);

digitalWrite(A0, HIGH);

digitalWrite(A1, LOW);}

if (IncomingData == 'D'){

analogWrite(9, 180);

analogWrite(10, 180);

analogWrite(5, 180);

digitalWrite(7, LOW);

digitalWrite(8, HIGH);

digitalWrite(2, HIGH);

digitalWrite(4, LOW);

digitalWrite(12, HIGH);

digitalWrite(13, LOW);

digitalWrite(A0, LOW);

digitalWrite(A1, HIGH);}

if (IncomingData == 'E'){

analogWrite(6, 180);

analogWrite(9, 180);

analogWrite(10, 180);

analogWrite(5, 180);

digitalWrite(7, LOW);

digitalWrite(8, LOW);

digitalWrite(2, LOW);

digitalWrite(4, LOW);

digitalWrite(12, LOW);

digitalWrite(13, LOW);

digitalWrite(A0, LOW);

digitalWrite(A1, LOW);}

delay(10); // Delay a little bit to improve simulation performance

}

first step of programing I set the Bluetooth module and define that there is a char named Incomingdata and = 0 and defined in void setup the pens are output..

in void loop I used while loop to tell that if the Incomingdata = 0 don't do any thing and if Incomingdata > 0 go to read what is the input so whe it read the input is A from mobile Application make 4 of digital pens are high and the others are low to go front.. when the input B make the low pens is high and others low to make it go back.. and make pen 13,4,7,A0 high and other low to make go right.. make the low pens high and other low it go left..

Project Integration & Testing

7- Demonstrate with text and visuals how did you integrate the project’s modules together? What are the testing results? (Include a Demo video separately, showing a proof of functionality)

I showed this question above in the fabrication in details..

when I mounting the component in fusion 360 I made projection for each component on the sketch of part so I can extrude cut in the place of component to fix it exactly with screw..

to test the project..

1- download Arduino Bluecontrol application on your mobile and open Bluetooth from settings of mobile and connect with HC-05 and go settings of mobile application and set Alphabetical from command buttons configuration and set A B C D E F and done

when you push on A the bogie go front, B go back , C go right, D go left

Sharing & Collaboration

8- Did you ask for feedback? What are the ideas that others have contributed or suggested? What was someone else’s idea that you built upon? How did you help your peers? How did your peers help you?

my friend wanted to do living hinge in the side of her project.. I helped her and we download Inkscape and tried to made like the video that we searched and didn't know to do it so we searched about DXF file for living hinge we download it and copied to her design and patterned it till we reach to living hinge with dimension we needed..

I asked many times for bearing and it's place and stabled to put it in the long leg of bogie as shown above..

Overcoming Challenges

9- When you got stuck, what/who did you turn to? At what point did you have to pause to research or learn more before moving on? What are some mistakes, pitfalls, or challenges that others can avoid if they were doing this project?

1-when I assembly all parts of bogie and started motion I found that nuts didn't fix exactly and rotate with motion so I get another nut and close them with each other so when the screw rotate nuts are fixed

2- when the bogie rotate the control box rotate so I limitted the motion of box by making a path for screw in the long leg side of bogie and small part that fix bogie with control box

Future Work

10- If you had more time, what is one thing you would change/ Do next in your project?

I would use two bearing or servo motor on this side..

I will cut another parts for bogie to make it more stable..

design large wheel so it can up and down inclined surface with 45 degree.. and use large motor than yellow dc motor to give large torque..

I will take more photos for better documentation

Final Project Design Files

FUSION360 FILE

Video for mechanism

sketches for each part

long leg dxf

https://drive.google.com/file/d/1Sy9-X8TJR5URzqPJfqKPTI5Sjez1znK_/view?usp=sharing

https://drive.google.com/file/d/1iXVfOylToUztXqK544zCKU-3MW10A4jr/view?usp=sharing

https://drive.google.com/file/d/12axE8-35w1pOlarYP6QVnIDkddV2MCiC/view?usp=sharing

https://drive.google.com/file/d/1TPyWO19wzv_UH-tPdgHpz-4Idtxfchj0/view?usp=sharing

https://drive.google.com/file/d/1d0J4AaTNuk2Aii07mWryrKDtSUNCPj-W/view?usp=sharing

https://drive.google.com/file/d/12hHyCYMhiIo48Julc5fpNtHuw_I6OdzI/view?usp=sharing

https://drive.google.com/file/d/11J0ol1QzNUDDXkcD0ZVshNijdfu86GCU/view?usp=sharing

https://drive.google.com/file/d/17jFjzIuFW_CzvMV3AOHJX8khA61YrPKd/view?usp=sharing

https://drive.google.com/file/d/1qdQjQlkgtgMtIDzKqk0qwWJopyHIF5Vk/view?usp=sharing

https://drive.google.com/file/d/1-_t07Iw6_57MFDKk-2R1nc2FBPgs0_nE/view?usp=sharing

https://drive.google.com/file/d/1niuBy7Ma0kgqBdRblnKV3SDBygoyE1lx/view?usp=sharing

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Final Project Journal

Project Ideation

1- Tell us about the idea of your project. Why do you care about this? What were you inspired by? Include images and videos of similar projects

Project Construction

2- Explain the CAD process of your project. How did you use the software to design your project? (List the softwares/tools/materials...etc that you used)

3- Explain the fabrication process of your project. How did you use the machine to fabricate your project? (List the softwares/tools/materials...etc that you used)

Project Electronics & Power Management

4- Describe your electronic circuit. What are the input and action components? What is the function of each? How do the components integrate together to form your smart system? (List the softwares/tools/components...etc that you used)

5- What is your power source? How did you select the suitable power source for your project? (List the softwares/tools/components...etc that you used)

Project Programming

6- Describe the code of your project. How did you program each function of the project?

Project Integration & Testing

7- Demonstrate with text and visuals how did you integrate the project’s modules together? What are the testing results? (Include a Demo video separately, showing a proof of functionality)

Sharing & Collaboration

8- Did you ask for feedback? What are the ideas that others have contributed or suggested? What was someone else’s idea that you built upon? How did you help your peers? How did your peers help you?

Overcoming Challenges

9- When you got stuck, what/who did you turn to? At what point did you have to pause to research or learn more before moving on? What are some mistakes, pitfalls, or challenges that others can avoid if they were doing this project?

Future Work

10- If you had more time, what is one thing you would change/ Do next in your project?

Final Project Design Files

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