We can explain the working of the ChefBot hardware using the following block diagram. This improved version of our first block diagram mentions the voltage of each component and its interconnection:
The main aim of this chapter was to design the hardware for ChefBot, which included finding the appropriate hardware components and finding the interconnection between each part. The main functionality of this robot is to perform autonomous navigation. The hardware design of robot is optimized for autonomous navigation.
The robot drive is based on differential drive system, which consists of two motors and two wheels. There are caster wheels for supporting the main wheels. These two motors can move the robot in any pose in a 2D plane by adjusting their velocities and direction.
For controlling the velocity and direction of the wheels, we have to interface a motor controller, which can do these functions. The motor driver we chose should able to control two motors...