FORGE-X: Project Documentation
Institution
P.E.S Modern College of Engineering,Shivajinagar.
Team Members
- Prathmesh Kulkarni
- Prathamesh Nibandhe
- Vaishnavi Surwase
- Bhoomi Oswal
Project Overview
Forge-X is a high-performance, multi-functional 4-wheel drive (4WD) remote-controlled robotic rover. Engineered for high maneuverability and complex interaction, it features an integrated robotic arm and a specialized skid-steer propulsion system.
Core Focus Areas
- Maneuverability: Skid-steer differential drive with Zero-radius turning.
- Interaction: Precision robotic arm control for object manipulation.
- Reliability: Real-time telemetry via LCD and 2.4GHz RF communication.
Technical Specifications
| Component | Description |
|---|---|
| Microcontroller | ESP32 WROOM (Dual-core processing) |
| Locomotion | 4x 300 RPM DC geared motors |
| Motor Drivers | Dual L298N H-Bridge controllers |
| Manipulation | Single high-torque robotic arm (Servo-driven) |
| Communication | 2.4GHz RF (AFHDS 2A) via Flysky FS-i6X/FS-iA10B |
| Telemetry | 16x2 I2C Liquid Crystal Display (LCD) |
| Power Source | 5200 mAh LiPo Battery (High-discharge) |
Working Principle
5.1 Control Architecture
The system utilizes a low-latency 2.4GHz RF protocol for real-time command execution:
- Input: Flysky FS-i6X transmitter transmits user control data.
- Reception: FS-iA10B receiver captures signals.
- Processing: ESP32 microcontroller decodes PWM/IBUS data streams.
- Output: Generation of precise PWM signals for motor drivers and servos.
- Execution: Coordinated movement and manipulation.
5.2 Locomotion (Skid-Steer)
The differential drive system allows for Zero-Radius Turning, enabling the rover to pivot on its central axis—ideal for navigating confined environments.
- Forward/Backward: All wheels rotate in uniform direction.
- Spin Left: Right wheels forward | Left wheels reverse.
- Spin Right: Left wheels forward | Right wheels reverse.
5.3 Robotic Arm & Power System
- Manipulation: Direct control via ESP32 GPIO PWM signals allows for high-accuracy angular positioning.
- Power Distribution: A high-capacity 5200 mAh LiPo battery ensures current stability across all high-torque DC motors and logic circuits, preventing system brownouts during peak loads.
Gallery & Media
Official Documentation | Forge-X Development Team