SOCCER BOTS TUTORIAL

”Create a mechanically controlled robot capable of playing football in the

specified arena”.

Now, we take a closer look at the problem statement. The manual bot has to,
dribble, score goals and also defend it.

In this case it needs a mechanism to control and shoot the ball. Also if the ball
is in possession of the opponent it has to tackle and win the ball. And we
missed one thing, Holding of ball with any kind of mechanism (like mechanical
arm, bucket, vacuum pumps, loops, rings, etc.) is strictly prohibited.

So, to cover up all the necessary details, we break down the tutorial under
following sections

1. Chassis

2. Drive mechanism

3. Motors

4. Controls

5. Power specifications

6. Mechanisms

1. Chassis

It is the basic frame on which the motors and mechanisms(if any)

is mounted. As per the machine specifications, the size of the chassis
should be predetermined. The chassis should be strong, durable,
 capable of sustaining any shocks and mechanical vibrations during the
match.

We recommend the chassis to be light, which will facilitate the

mobility of your robot. But one should keep in mind, the bot will be
tackled by its opponent, so the chassis should also be strong.

2. Drive mechanism

The simplest drive, the Differential drive is explained here.

Differential Drive, as the name suggests, is the drive caused due to a "difference".This is
chosen by beginners generally for its simplicity and ease in use. Actually, the rotational motion
of the bot occurs in a differential drive due to the difference in the direction of rotation of two
different wheels. When it is to be moved forward/backward, the two wheels rotate in the same
[Link] basically contains two wheels controlled by two DC motors(preferably geared) on
one axis, and one extra caster wheel for support.

Indicates direction of motion of the wheel.

Indicates direction of motion of the bot.

Now, if you are happy with constructing the drive, we come to

controlling it. Specifically for manual robots, one good method of controlling it
is the H-bridge. It is basically controlling one motor with two single pole
switches.

Two switches can be set on/off in 4 different ways, each way corresponds to
rotating the motor clockwise, anticlockwise, braking it, or allowing it in free-
running [Link] circuit is very simple.
When the left high and right low are switched on, the motor moves in one
direction. When the right high and left low are switched on, the motor moves in
the opposite direction. When both the high side switches are switched on, the
motor brakes and comes to an instant halt.
When both the low side switches are on, the motor is in a free running
condition and does not force/resist motion.

You can learn the H-bridge in detail here H-bridge

3. MOTORS

DC motors are available in 2 types GEARED and NON-GEARED

motors. Geared motors are generally available in range of 10 rpm – 500 rpm.
Geared motors are used where in, a task to be performed requires a torque.
Practically, as speed is inversely proportional to torque, motors with higher
speed ratings will give lesser torque.

This event requires the motors to be of higher speeds, but it

should be noted that the torque should be sufficient to drive the bot and
sustain the tackles.

DC NON-GEARED motors (used in toy cars) can also be used,

as they have high speed ratings but they provide lesser torques.
 As mentioned in the machine specifications, a 230 v ac supply will be
provided, participants can also use AC motor.

4. CONTROLS

We can control the bot with the help of electrical switches. Various types
of switches are available in market. We recommend to use 2 way rocker
switch for this event.

There are six pins for electrical connections. The connections should be
made as shown in fig. below-

When the switch is in MODE-1, then because of internal connection the

motor rotates in one direction.

On the other hand if switch is in MODE-2 then the motor shaft rotates in
opposite direction.

MODE 1 MODE 2

- A 2 way rocker switch having 6 pins.

 5. POWER SPECIFICATIONS

230 volt AC power supply will be provided. Participants can use

adaptors, SMPS to convert the supply voltage to desired rating.
Participants should use the adaptors which are compatible with the
motor ratings. Use of a DC batteries is also allowed.

6) MECHANISMS:
Coming to the most important part of the bot which will play a decisive role in your win or
loss in the match. The first point to be remembered by all the participants should be that the
mechanism installed should not cause any hindrance to the movement of the bot under any
conditions.

You have to install a mechanism which may control or shoot the ball according to the
controller’s will. As mentioned earlier, that holding the ball is not allowed. Also use of vacuum
pumps or similar mechanisms may lead to disqualification. So you have to think of something
which will fit into the rules and also serve your need.

Now let us think where and when we may need to have assistance (in addition to the main
body of the bot) to control and shoot the ball. This necessity will play a foremost role during the
tackle, free kicks, penalty and the shootouts (if necessary).
Hence you need to have something which will control the ball within the allowed restrictions
and something to shoot the ball too.

Following basic mechanisms may be devised:

1) To control the ball:

You can attach a simple dish and U-shaped or semicircular expansion bars in front of the
robot. But the length of the bars (as measured in the top view) from the main body of the bot
should be equal to or less than the radius of the ball.

Participants should note that they should control the ball which will give an equal and fair
chance to their opponents to obtain the ball during the tackle. Your control of the bot is going to
decide your percentage possession of the ball.

2) To shoot the ball:

As mentioned earlier the weight of the ball is about 8 g and surface is hard and smooth. So
the mechanism to shoot the ball need not be heavy and complex.
 Your main aim is to score a goal .So you can attach a metal strip to the shaft of the motor
and mount it horizontally on the chassis so that it acts like a paddle. This paddle can kick the ball
when necessary. You can also devise a spring mechanism which can put the ball with the required
force.

The mechanisms thus basically needs to:

 Control the ball,

 Shoot the ball.

You can either mount two separate mechanisms to perform the above functions or can fuse
them into one so that the bot becomes simple, effective and cost-efficient.

The dimensions of the bot will be measured of the mechanism in prison. Thus the design
and installation of mechanism should be done accordingly.

HAPPY ROBOT BUILDING EVERYONE!!!