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Robotics Development Platform

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Robotics Development Platform Presented by: Michael Carr Christina Welk Advisors: Dr. K. Pashin Nikaaien Professor Gordon Jenkins Course: GE-492 – PowerPoint PPT presentation

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Title: Robotics Development Platform


1
Robotics Development Platform
  • Presented by
  • Michael Carr
  • Christina Welk
  • Advisors
  • Dr. K. Pashin Nikaaien
  • Professor Gordon Jenkins
  • Course GE-492
  • Sponsor Z-Buffer inc.

2
Concept
  • Modular Design
  • 300 Pound Carrying Capacity
  • At Least 30 Minute Battery Life
  • 5-25 mph Speed Range
  • Climbs Stairs
  • Fits in Buildings and Cars
  • Onboard Mini ATX Motherboard
  • Local Data Acquisition
  • Real Time Reaction to Sensor Input
  • Speed Controller Interface
  • Wireless Connection to Laptop
  • Joystick Input

3
Six Sigma Tools
  • Gemba
  • Kano Analysis
  • Quality Function Deployment (QFD)
  • Risk Mitigation
  • Failure Modes and Effects (FMEA)
  • 1 Page Scope Statement
  • Input Specification Requirements
  • Design of Experiments (DOE)

4
Risk Mitigation
5
Computer Hardware
  • Via ME600
  • Mini ATX form factor
  • 600mhz fan less processor
  • 256 MB DDR ram
  • One PCI Slot
  • Standard ATX I/O
  • Ituner 200 watt ATX to dc power supply
  • Netgear MA311 802.11b PCI wireless card
  • Fujitsu 20 GB hard drive
  • Microsoft SideWinder
  • USB joystick

6
CS Progress
  • All hardware components selected
  • Fedora Core 2 installed on via board
  • CVS server set up
  • UML design
  • - Actor/goals list
  • Use cases
  • Sequence diagrams
  • Domain models
  • Class diagrams

7
Domain Model
8
Mechanical Design
Drive Train Design Tank Tread Design
Batteries and Control Systems Heat Exchanger
Design Suspension Design Structural Analysis
9
Drive Train Design
Briggs and Stratton Etek DC Electric Motor
24 48V 21 Pounds 1.14 in-lbf/A 72
RPM/V 89 Peak Efficiency 15 hp Peak
Power 330 A max for 2 minutes
10
Tank Tread Design
11
Batteries and Control Systems
Concorde Sun Xtender PVX-1040T AGM Sealed
Battery
100 Ah at 20 hr rate 66 pounds each Group
27 12.03 X 6.77 X 8.93
RoboteQ AX2550 Dual Channel, Electronic Speed
Controller
Fully Digital, Microcomputer Design Advanced
Data Logging 200 mA Idle Current Draw 2.5 mW
ON Resistance MOSFETs 120A for 15 seconds, 80A
Extended 16kHz Pulse Width Modulation
12
Heat Exchanger Design
13
Heat Exchanger Design
(cont.)
14
Heat Exchanger Design
(cont.)
15
Suspension Design
Studied 3 different materials Conducted 3
experiments to determine stiffness, creep
and abrasion properties Based on these
results, selected molded polyurethane straps
rated to 2 times their original length
16
Structural Analysis
Used the ANSYS finite element analysis software
package Examined 8 worst case scenario load
cases Also analyzed axles for structural
integrity Found and corrected all cases where
the stresses exceeded half of the yield strength
of steel
17
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20
Classes Used
  • Direct Use
  • CM-410 Advanced Engineering Com.
  • MA-130 Calculus I
  • MA-140 Calculus II
  • MA-150 Calculus III
  • MA-210 Fundamentals of Linear Algebra
  • MA-250 Principles of Differential Equations
  • MA-320 Numerical Analysis
  • SC-235 Physics I
  • SC-245 Physics II
  • CS-190 C Programming
  • CS-270 Structured Computer Organization
  • CS-360 Advanced Program Design
  • CS-430 Data and Computer Com. Networks
  • CS-440 Software Engineering
  • CS-450 Operating Systems
  • Survey Use
  • HM-480 Moral and Ethical Issues
  • GE-110 Engineering Graphics
  • GE-201 Engineering Statics
  • GE-202 Engineering Dynamics
  • GE-203 Engineering Mechanics of Materials
  • GE-205 Engineering Materials
  • GE-290 Introduction to Engineering Design
  • GE-305 Electrical Circuit Analysis
  • ME-204 Mechanics and Materials Laboratory
  • ME-301 Fluid Statics and Dynamics
  • ME-320 Heat and Mass Transfer
  • ME-390 Introduction to Mechanical Design
  • ME-415 Kinematics and Mechanisms
  • ME-420 Finite Element Analysis
  • ME-460 Introduction to Robotics
  • SC-195 General Chemistry

21
Complete Budget Fall-Through
Updated Risk Mitigation
22
Complete Budget Fall-Through
Updated Risk Mitigation
23
Our Sponsorship Evaporated Now What?
The design process went on hold Alternate
projects were researched and evaluated - Reduced
design (approximately 100 pounds) - Small design
(25-50 pounds) - Small hybrid/electric vehicle
conversions Opted to complete a full scale
prototype with slightly modified implementation
details - Single battery pack on delivery -
Sensor array to be implemented as a module This
process, as well as the enduing redesigns, caused
a massive schedule lapse As a result, we have
failed to make almost every single deadline set
at the onset of this project.
24
Senior Design Project Schedule, First Phase
25
Senior Design Project Schedule, Second Phase
26
Budget
27
Conclusions
  • To date, we have
  • addressed all major design issues and concerns
  • developed finished mechanical designs and domain
    models
  • completed the development phase and are now
    ready to move on to implementation

this is going to be the best prom ever
28
Questions?
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