Design and Implementation Solenoid Based Kicking Mechanism for Soccer Robot Applied in Robocup-MSL

摘要

RoboCup is an international competition to prompted robotics and related subject like: Artificial intelligence, Image processing, control, devise design and etc. One of the subjects in RoboCup competitions is Soccer. Naturally robotic soccer is an interactive and complex procedure. it might be so idealistic, but some consider a challenge with a real human football team in 2050, as the final goal of robotic soccer. There are several classes in robotic football matches such as: Middle size, Small size, simulation and so on. One of the most essential parts of a soccer robot in Middle size and Small size classes in the kicking system, this system is in charge of kicking the ball upon the command issued by the processor of robot. Almost every team develops their own unique shooting device. There are three main approaches to design and implement the robot kicking system. In this paper we designed and developed multi power kicking system that enables loop and vary shooting power. To design a good solenoid and to obtain maximum velocity of ball some parameters like: inductance, response time, resistance, force, dimensions and core-material should be balanced carefully. We used a DC-DC converter (Boost regulator) for getting different currents to have different power of shooting. We are going to review the advantages of all of those approaches. Next we are purposes a novel Solenoid-based kicking system which has already been successfully implemented in Adro RoboCup team.