OPHION

Ophion... This is name that we gave to our snake. The name OPHION is of Greek origin and means a 'mythical serpent' .  The Concertina motion of snake is achieved and now we are trying for Sinusoidal motion.   Also planning for interfacing few more sensors. Lets see..

Finally.. Hard Work pays..

We have now loaded the program of forward motion, turning left and right. The turnings are good but the forward motion is not yet up to the mark.  Previously the torque was not enough to drive the motor.  Now to increase the torque, we increased the motor voltage to 12volts and it worked.  Yet we need to work on our forward motion.  

Our First Move

Now the whole wiring is done and all the motors and batteries are attached.  Today we loaded our first program of operating six servos.  The snake did perform some movement but not as we desired.  It just moved to default position.  Don't know whether there is problem of Loading Effect or the servos are not able to carry the weight of Robot.  Lets see. Tomorrow we will try again.  Fingers Crossed !! 

The Chassis

The chassis of the motor is ready with the motors fitted in it. 

Testing the Servo motor

As in my previous post i wrote about PWM signal generation to test the motor. We generated pulses of various duty cycles and accordingly the motor rotated in various angles. The above video makes it more clear. 

PWM signal Generation

We generated PWM signals to test the servo motor using ATmega32. The motor that we are using is VS-2. The angle of rotation of the motor is dependent on the duty cycle of the pulse. The greater is the ON period, the greater is the angle of rotation. For any information on VS-2, refer to the following figure..

For further information, follow the link http://www.strikemodels.com/wp-content/uploads/VS-2-Servo.pdf

The picture of PWM signals generated by us is given below.

                          

Servo Tester Circuit

Today we tried to test our Servo Motor using LM555 circuit. There are two ICs. The first one working in Astable mode and the second one working in Bistable mode.   We generated a pulse with ON period 1.5 msec and off period 18.5 msec. But we got continuous rotation of motor i.e from 0 degree to 180 degree. Thus, the motor did not rotate as we desired.  The below shown is our 555 Servo Motor Tester Circuit.