2. ABSTRACT
This multi directional elevator system is a conceptual working model. This elevator could move both in
vertical and horizontal direction on exterior elevation of a multi stored building. This system is
completely independent of main building and have an access to reach any location on front elevation of
the building. Apart from public transportation it can be used in emergency situations for safe evacuation
and quick rescue operations in case of fire or blocking of passageway by attackers. This system works on
H bot mechanism with linear guide rails and belt drive. Elevator is powered by two high torque stepper
motors and source of power is 12V dc, independent from main power. Motor position is precisely
controlled by mother board which consists of stepper driver module, ramps1.4 board and Arduino mega
micro controller. The software code is written in embedded C and upload into microcontroller. Elevator
position is controlled by key pad in normal operation and also by joy stick in case of emergency or
material lifting to a particular location
3. Introduction
• The elevator works on “H bot” mechanism
with linear guide rails and belt drive. It also works on XY
coordinator kinematics that enhances elevator efficiency
and performance.
• It utilizes XY coordination to optimize elevator movements
and reduce wait times for passengers.
• This system is revolutionizing vertical and
horizantal transportation in high-rise buildings.
H-BOT MECHANISM
4. Purpose
Multi-directional elevators are designed to move not just vertically but also horizontally, allowing them to
navigate through buildings in multiple directions. The purpose of such elevators is to increase efficiency in
large, complex structures where traditional vertical elevators might not suffice.
Efficiency: By moving horizontally as well as vertically, these elevators can provide more direct routes to
various destinations within a building. This reduces travel time for occupants and increases overall
efficiency in transportation within the structure.
Flexibility: Multi-directional elevators can navigate through complex building layouts, including
irregularly shaped or multi-winged structures. They can access different floors and areas that might be
challenging to reach with traditional elevators.
Space Optimization: Traditional elevators require dedicated shafts for vertical movement, which can
consume a significant amount of space within a building. Multi-directional elevators, however, can utilize
a single shaft or even move outside the traditional shaft space, allowing for better space utilization and
potentially freeing up valuable real estate for other purposes.
5. How H bot mechanism works
The H-bot mechanism is a type of parallel kinematic structure
commonly used in CNC (Computer Numerical Control) machines and
3D printers. It consists of two parallel rails with a carriage that moves
along them, driven by motors. The carriage is connected to the two rails
by a system of linkages in the shape of the letter "H," hence the name.
The way it works is that the motors control the movement of the
carriage by simultaneously driving both ends of the H-shaped linkage.
This allows for precise and synchronized movement in two axes
(typically X and Y). By controlling the speed and direction of each
motor, the carriage can move smoothly and accurately along the rails,
enabling precise positioning of the tool or printhead.
Overall, the H-bot mechanism provides a compact and efficient way to
achieve precise movement in CNC and 3D printing applications.
H-BOT WORKING
6. Features of H bot
• H-Bot configuration. (X/Y)
• High speed, high performance 2 axis Linear robot.
• Simple design: One single belt drives both axes.
• Two fixed motor mounting locations.
• Fixed motors reduce load, cable management and inertia
requirements.
• Sealed linear profile rail and bearing guidance.
• Low profile.
• Mounting flexibility in either horizontal or vertical orientation.
H-BOT ASSEMBLY
7. Components of “Multi Directional Elevator”
1. Stepper Driver DRV(3)
2. Idler pulley 20 teeth.
3. Stepper Motor Nema 17, 2.8 kg-cm(3)
4. Arduino Uno – controller
5. Gt2 timing belts
6. Smooth Rods 8mm OD
7. Liner motion bearing – 8mm ID
8. Slotted Aluminum extrusions
9. Gantry Plates
10. CNC Shield
8. Stepper Driver DRV
They are commonly used in CNC machines, Robotics, 2D and 3D printers. The
DRV8825 driver module which is used to control a stepper motor in a
relatively simple manner.
Using only two pins of Arduino and DRV8825 driver module, we can control
the speed of the rotation as well as the direction of rotation of a stepper motor.
It is capable of operating bipolar stepper motors in full step, half step, quarter
step, eighth step, and sixteenth step modes.
There is a built-in translator which allows only two pins from the Arduino
board to be used to control the speed and direction of the stepper motor.
STEEPPER DRIVER DRV
9. Specifications
• Maximum Operating Voltage: 45V
• Maximum Current per phase is 2.2A so it can easily control NEMA17 that has an output current of 2A per
phase.
• Dimensions: 15.5 × 20.5 mm (0.6″ × 0.8″)
• Capable of operating bipolar stepper motors in full step, half step, quarter step, eighth step, sixteenth step
and thirty second step modes.
• In full step, the driver has 200 steps per revolution which is 1.8 degrees per step.
• Has thermal shutdown circuitry
• The DRV8825 Driver Module comes with a heat sink to cool the inner circuity in case of higher power
dissipation.
10. Idler pulley 20 teeth
In a belt drive system, idlers are often used to alter the
path of the belt, where a direct path would be
impractical.
Belt drive systems commonly incorporate one movable
pulley which is spring- or gravity-loaded to act as
a belt tensioner, to accommodate stretching of the belt
due to temperature or wear.
They can then turn the tensioner to keep the belt tight
and ensure its correct operation.
IDLER PULLEYS
11. Stepper Motor Nema 17, 2.8 kg-cm
NEMA 17 is a hybrid stepping motor with a 1.8° step angle (200
steps/revolution). Each phase draws 1.2 A at 4 V, allowing for a holding torque
of 2.8 kg-cm.
It is a brushless DC motor, so the life of this motor is dependent upon the life
of the bearings.. The motor’s shaft has been machined for good grip with a
pulley, drive gear, etc. and especially avoiding slip.
The NEMA 17 stepper motor with a holding torque of 2.8 kg-cm is suitable for
applications requiring precise positioning and moderate torque, such as 3D
printers, CNC machines, robotics, and automation systems.
STEPPER MOTOR
12. Arduino Uno – microcontroller
The Arduino Uno is a microcontroller board based on the ATmega328
(datasheet). It has 14 digital input/output pins (of which 6 can be used
as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB
connection, a power jack, an ICSP header, and a reset button. It
contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to-DC
adapter or battery to get started.
"Uno" means one in Italian and is named to mark the upcoming release
of Arduino 1.0. The Uno and version 1.0 will be the reference versions
of Arduino, moving forward. The Uno is the latest in a series of USB
Arduino boards, and the reference model for the Arduino platform. ARDUINO UNO
13. Arduino Uno Specifications
The ATmega328P is a Microcontroller
The operating voltage of this microcontroller is 5volts
The recommended Input Voltage will range from 7volts to 12volts
The input voltage will range from 6volts to 20volts
The digital input/output pins are 14 where 6 of these pins will supply PWM o/p.
DC Current for each input/output pin is 20 mA
DC Current used for 3.3V Pin is 50 mA
Flash Memory like 32 KB (ATmega328P) of which 0.5 KB used by bootloader
The clock (CLK) speed is 16 MHz
The length, width, and weight of this board is 68.6, 53.4 mm, and 25gms respectively
14. GT2 Timing Belts
A timing belt is a non-slipping mechanical drive belt and the term may refer to
either, Toothed belt, a flexible belt with teeth molded onto its inner surface.
A timing belt is typically made from rubber, although some belts are instead
made from polyurethane or neoprene. The structure of the belt is reinforced
with corded of fibres (acting as tension members) and the toothed surface is
reinforced with a fabric covering.
GT2 timing belts are essential components in various mechanical systems,
offering precise motion control, reliability, and durability. With their
trapezoidal tooth profile, 2mm pitch, and availability in different widths, they
provide accurate positioning and high repeatability.
GT2 TIMIMG BELTS
15. Smooth Rods 8mm OD
A smooth rod is a metal rod usually used on the axis for components such as the X-
carriage or print bed of a RepRap to slide on. The most commonly used diameter is
8 mm, but 10 mm and 12 mm are seen in more rigid designs as well.
Smooth rods with an 8mm outer diameter are often used in mechanical systems for
linear motion. They provide smooth movement and are commonly employed in 3D
printers, CNC machines, and other types of automated systems where precise motion is
essential.
These rods are typically made of materials such as hardened steel or stainless steel to
ensure durability and accuracy in operation. These rods are often used in various
applications such as construction, manufacturing, and engineering due to their
corrosion resistance, durability, and aesthetic appeal.
SMOOTH RODS
16. Liner motion bearing
Linear bearings generally use a pad, bushing, or roller system to carry a load
on a rail that need not be a straight line. The durability of the bearing is
determined by the load and required speed.
These are so constructed that a loop of balls or cylindrical rollers cycles into
and out of a load area along shafts at most any required load.
Linear motion bearings are mechanical components used to facilitate smooth
and precise motion along a linear axis. They come in various types, including
ball bearings, roller bearings, and plain bearings.
These bearings reduce friction and wear between moving parts, enabling
smooth movement in applications such as machinery, automation, and
transportation systems.
LINEAR MOTION
BEARING
17. Slotted Aluminum Extrusions
Extrusion is a process used to create objects of a fixed cross-
sectional profile by pushing material through a die of the desired cross-
section. Its two main advantages over other manufacturing processes are
its ability to create very complex cross-sections; and to work materials
that are brittle, because the material encounters
only compressive and shear stresses. It also creates excellent surface
finish and gives considerable freedom of form in the design process.
V-Slot is a high quality extruded aluminum profile building block that
has an extremely smooth linear v groove rail on all 4 sides. It’s precise,
easy to work with and allows you unlimited design control through it’s
modular nature.
SLOTTED
EXTRUSSION
18. Gantry Plates
The board is designed to be used when a smaller, lighter board for V-Slot
profiles is needed, mounted on a 20 mm long side. This Gantry Plate is great
when full size wheels are preferred along with a smaller foot print needeṣ
Gantry plates are structural components typically used in gantry systems,
which are mechanical setups that consist of a horizontal beam supported by
vertical columns or legs.
The gantry plate serves as a mounting platform for various components
such as linear motion bearings, motors, actuators, and other mechanical or
electronic elements.
Gantry plates play a crucial role in the overall performance and
functionality of gantry systems, enabling them to carry out tasks such as
CNC machining, 3D printing, laser cutting, and robotic assembly.
GANTRY PLATES
19. CNC Shield
The CNC shield is an expansion board that allows Arduino boards to control stepper motors for CNC (Computer
Numerical Control) applications. It provides connections for stepper motor drivers, limit switches, spindle control,
and power input, enhancing the capabilities of Arduino boards for CNC projects.
The CNC Shield is an expansion board designed to augment the capabilities of Arduino microcontroller boards,
enabling them to control stepper motors for CNC (Computer Numerical Control) applications. With its versatile
features and compatibility with various stepper motor drivers, the CNC Shield serves as a crucial component in
DIY CNC projects, allowing enthusiasts and professionals alike to build custom CNC machines for milling,
cutting, engraving, and more.
By providing convenient connections for stepper motors, limit switches, spindle control, and power input, the
CNC Shield empowers users to create precise and efficient CNC systems tailored to their specific needs. Whether
used in conjunction with GRBL firmware or other CNC software, the CNC Shield offers a flexible and accessible
platform for realizing a wide range of CNC projects, from hobbyist endeavors to industrial applications.
20. Features of CNC Shield
Stepper Motor Drivers: The CNC shield typically includes slots for inserting stepper motor driver
modules, such as A4988 or DRV8825. These drivers interpret digital signals from the Arduino and
control the stepper motors accordingly.
Stepper Motor Connections: The shield provides screw terminals or headers for connecting the
stepper motors. These connections allow the motors to receive power and signals from the stepper
motor drivers.
Limit Switch Connections: It often includes pins or screw terminals for connecting limit switches.
Limit switches are used to detect the boundaries of the machine's movement, preventing overtravel.
Power Input: The shield typically has a power input terminal or header for supplying power to the
stepper motors and other components of the CNC system.
21. Additional details about CNC shields
Customization Options: CNC shields often feature jumper
settings or configuration options that allow users to customize
the board's behavior according to their specific requirements.
This flexibility enables fine-tuning of parameters such as
motor current, step resolution, and pin assignments.
Integrated Logic Level Conversion: In cases where the
Arduino operates at a different logic voltage level than the
stepper motor drivers or other peripheral devices, CNC
shields may include integrated logic level converters to ensure
compatibility and reliable communication between
components.
CNC SHIELD
22. Arduino Programming
Connect your Uno board with an A B USB cable; sometimes this cable is called a USB printer cable. The
USB connection with the PC is necessary to program the board and not just to power it up. The Uno
automatically draw power from either the USB or an external power supply. Connect the board to your
computer using the USB cable. The green power LED (labelled PWR) should go on.
23. Applications
Multi-directional elevators, also known as multidirectional lift systems or omnidirectional elevators, are innovative
vertical transportation systems that can move in multiple directions, including horizontally as well as vertically. These
elevators have several potential applications in various industries and environments:
I. High-rise Buildings: Multi-directional elevators can be used in skyscrapers and high-rise buildings to provide more
flexible and efficient vertical transportation.
II. Urban Transportation: In urban environments, multi-directional elevators can serve as part of an integrated public
transportation system.
III. Warehousing and Logistics: Multi-directional elevators can be employed in warehouses and distribution centers to
move goods vertically and horizontally within the facility.
IV. Manufacturing and Assembly: In manufacturing facilities, multi-directional elevators can facilitate the movement of
materials, components, and products between different production stages or workstations.
24. Conclusion
I. Multi-directional elevators offer a revolutionary advancement in vertical transportation.
II. Their ability to move vertically and horizontally makes them versatile and adaptable.
III. Applications include high-rise buildings, urban transportation, warehousing, manufacturing, and
specialized environments.
IV. They enhance accessibility, productivity, and efficiency in various industries.
V. As technology evolves, multi-directional elevators are poised to play a crucial role in future
transportation systems.
VI. With improved accessibility and efficiency, they optimize space utilization and streamline logistics
operations.
VII. As technological advancements continue, multi-directional elevators are expected to evolve further,
enhancing their role in shaping the future of transportation systems.
