This document describes the design of an omni-directional robot that can move in any direction. It uses three omni-wheels mounted at 120 degrees apart and driven by DC motors controlled by a microcontroller. The robot is designed to be controlled remotely using a DTMF decoder that interprets tones from a mobile phone. Software like Code Vision AVR, Proteus, and Sina Prog are used to program the microcontroller, simulate circuits, and download programs to the robot respectively. Omni-directional movement allows the robot to perform tasks like transporting items or serving food in any environment.

1. Omni Directional Robot
C PRASHANTH KUMAR
ECE

2. What is robotics??
 Robotics is science of designing or building an application
of robots.
 Simply robotics may be defined as “The Study of Robots”.
 Robotics develop man-made mechanical devices that can
move by themselves whose motion must be planned,
sensed, actuated and controlled and whose motion
behaviour can be influenced by programming.
 The aim of robotics is to design an efficient robot

3. Types of Robots
 Mobile robots
 Rolling robots
 Walking robots
 Stationary robots
 Autonomous robots
 Remote-control robots

4. Omni Directional Robot
 It is a vehicle used to move in
all directions.
 Our project aims at designing
a omni directional robot
equipped with three omni-
wheels, mounted at 120
degrees apart.
 These wheels will be mounted
on DC motors which will be
driven by L298 motor drivers.

5. Block Diagram

6. Components
 ATMEGA 128 Microcontroller
development board
DC Motor
Motor drivers
Omni Wheels
DTMF decoder

7. ATMEGA 128
 The ATmega128 is a low-
power CMOS 8-bit
microcontroller based on the
AVR enhanced RISC
architecture.
 By executing powerful
instructions in a single clock
cycle, the ATmega128
achieves throughputs
approaching 1 MIPS per
MHz allowing the system
designer to optimize power
consumption versus
processing speed.

8. DC MOTOR
 A DC motor is any of a class of
electrical machines that converts direct
current electrical power into mechanical
power.
 The most common types rely on the
forces produced by magnetic fields.
 Nearly all types of DC motors have
some internal mechanism, either
electromechanical or electronic, to
periodically change the direction of
current flow in part of the motor.

9. MOTOR DRIVER
 The L298 is an integrated monolithic
circuit in a 15- lead Multi watt and
PowerSO20 packages. It is a high voltage,
high current dual full-bridge driver
designed to accept standard TTL logic
levels and drive inductive loads such as
relays, solenoids, DC and stepping motors.
 Two enable inputs are provided to enable
or disable the device independently of the
input signals. The emitters of the lower
transistors of each bridge are connected
together and the corresponding external
terminal can be used for the connection of
an external sensing resistor.

10. OMNI WHEELS
 Omni wheels or poly wheels, similar
to mecanum wheels, are wheels with
small discs around
the circumference which are
perpendicular to the turning direction.
 The effect is that the wheel can be
driven with full force, but will also
slide laterally with great ease.
 These wheels roll forward like normal
wheels, but slide sideways with almost
no friction (no skidding during turns).

11. DTMF DECODER
 DTMF is the acronym for Dual tone
modulation frequency. Robotic
vehicle based on DTMF technology is
explained in this project.
 When a key is pressed from our
mobile, it generates a tone
combination of two frequencies from
our keypad. In the two frequencies,
one is high frequency and another one
is low frequency. This frequency can
be decoded by the decoder IC into
binary sequence. DTMF based robotic
vehicle circuit consists of DTMF
decoder IC, driver IC and motors.

12. DIRECTIONS OF A OMNI
ROBOT

13. Software
 CV AVR
 ISIS PROTEUS
 SINAPROG

14. CV AVR
 HP InfoTech presents a new version of the most popular (more than
14600 registered users) commercial C Compiler for the Atmel AVR
microcontrollers.
Code Vision AVR is the only Integrated Development Environment
on the market that features an Automatic Program Generator (Code
Wizard AVR) for the new XMEGA chips.
 Code Vision AVR V3, besides it’s own IDE, can now also be used as
an Extension fully integrated in Atmel Studio 6.2.
 The Code Vision AVR Advanced version also features the LCD
Vision Font & Image Editor/Converter and Graphic Display Libraries.

15. Isis Proteus
 The Proteus schematic capture module lies at the heart of the system, and
is far more than just another schematics package.
 It combines a powerful design environment with the ability to define most
aspects of the drawing appearance.
 Whether your requirement is the rapid entry of complex designs for
simulation and PCB layout, or the creation of attractive schematics for
publication, Proteus Capture is the tool for the job.
 Open Proteus in order to design their circuit, they found out that the
components they have used in their project are not available in the
Proteus Directory.
 In that case, there’s a need to design your own component in Proteus and
place it in the circuit.
 Although, this new designed component won’t work as the real
component but for presenting the circuit, it will be enough.

16. SINA PROG
 Sina Prog Program Download Guide will help to learn how to
download hex file into all AVR microcontrollers. Connect the
AVR USB programmer to the PC to Laptop directly or with the
help of USB AM-FM Cable provided with the AVR USB
programmer package.
 Then, connect the AVR Trainer Board-100 or any other
microcontroller board that you have, with the AVR USB
programmer through the 10 to 10 FRC Female Connector
provided with the AVR USB programmer Package.

17. PROCEDURE
 The C program is written in the CODE VISION AVR
software, where it has a facility for predefined header files.
 After the program is written, it is compiled and built.
 To simulate, we use the software ISIS PROTEUS.
 It checks for connection errors.
 To dump the tested program into the hardware, we use
SINA PROG.

18. TYPES OF OMNI ROBOTS

19. ADVANTAGES
 The first main advantage omni directional robot is that it can
move in all 8 directions i.e., in 360 degrees.
 Robots can work in factories and do the same thing over and
over again and not do it any differently. Humans on the other
hand will get tired after doing the same thing repetitively and
could easily make a mistake.
 This robot to serve food or products, to carry material from
one place to another, to send medicines to the patients kept in
the isolated environments, etc.

20. DISADVANTAGE
 One main disadvantage that results from
Humanoid Robots will be that many people are
going to lose their jobs.
 It cannot be applied in automobiles because it
can reduce mileage of the vehicles.
 The companies that put money in research and
development of these robots and do not sell any
will also be losers.

21. CONCLUSION
 Omnidirectional vehicles have great advantages
over conventional (non-holonomic) platforms.
 They can crab sideways, turn on the spot, and
follow complex trajectories.
 Robots are taking over tasks which are dull and
dangerous.
 Technology Should be used and implemented for
Construction but not for destruction.

22. THANK YOU