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Autonomous Leveling Caster System

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Description

Drexel University Senior Capstone Project, the ALCS, is a self-leveling caster platform which can handle up to 2000 lbs of load to properly level on uneven ground surfaces.  Using Nema Stepper Motors to adjust platform, a MPU-6050 IMU to determine slop via roll and pitch values, this device can accurately level itself when it is resting on a sloped surface.

This project won 3rd place out of over 100 senior project teams at Drexel University.  Please continue to see more details about the project, along with more pictures and videos of the project and the Drexel University Events for the senior project.

Fig 1. Completed ALCS prototype presentation

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Fig 2. Final Prototype

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Fig 3. ALCS final project unit

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Fig 4. Senior Project Competition Presentation

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Fig 5. ALCS Senior Project Poster

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Fig 6. Drexel Celebration of Engineers Senior Project Competion award

Prototype Electronics and Programming

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Fig 7. Components on ALCS project

Components

  • Arduino Mega2560

  • Breadboard

  • Assorted wires

  • MPU-6050 IMU

  • 4 Nema 17/23 Stepper Motors

  • 4 TB660 Stepper Motor Drivers

  • 4 Limit Switches

  • Wooden Platform

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Fig 8. Electronics schematic

Fig 9. Video of prototype during test phase

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Fig 10. TB660 Stepper Motor Driver

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Fig 11. MPU6050 IMU Sensor

Fig 12. Video of stepper motors with IMU sensor

Programming

This program was written in C language on Arduino.  

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