AME 40463 Senior Design Group E3: Hewlett-Packers Concept Design Review April 24, 2008 Caitlin Feely Ben Nelessen JJ Rees Jamie Rowland Patrick Tennant.

AME 40463 Senior DesignGroup E3: Hewlett-Packers

Concept Design Review

April 24, 2008

Caitlin Feely

Ben Nelessen

JJ Rees

Jamie Rowland

Patrick Tennant

Project Description

Robo-Football Demonstration and Competition Development

Intercollegiate robotic “football” competition to encourage interest in science and engineering

Develop robot-based game with elements similar to American Football

Create rules of the game and quarterback prototype to demonstrate the feasibility and some fundamental features of the game

Product Design Requirements

Customers– University Engineering Departments and Students– Alumni Sponsors

Competition– Other Robo-Sport Competitions

• Robo Soccer• Robotic Football League (RFL)• College Competitions like Duke Annual Robo-Climb Competition

Product Design Requirements

Design Requirements– As similar to American Football as feasible with

robo-players• Scoring• Possession• Player Types

– Entertaining for everyone not just engineers

Options Considered

- Ability to move on grass/turf

- Indication of tackle/end of play - Use of compressed air as throwing mechanism

- Mobile base with rotating parts

- Pre-set plays- Embedded intelligence on side of robo-quarterback

- Larger scale for greater entertainment value.- Aspiration of full-scale American football - Touch sensor to indicate tackles

- Smaller robot for running backs

Rules of the Game

Players Each team will consist of 7 robo-players: 1 Quarterback, 1

Kicker, 2 Linemen, 3 Receivers/Defensive Backs All players have size restrictions

Playing Field The game is played on an indoor field 85 yards long by 50

yards wide with 8 yard end zones The field is surrounded by a barrier 1m high

Game Play The game is 5 on 5: Offense – Quarterback, 2 Linemen, 2

Receivers, Defense – 2 Linemen, 3 Defensive Backs Overtime will consist of a kicking competition

Limitations

Only one robot– Quarterback because we felt it would be the most

interesting while displaying more key features of the game

Size and Features– Could not buy adequate material to make the

larger robot originally planned– Inclusion of bumper and force sensors to indicate

a tackle or out of bounds– Remote control

Limitations

Refinement– Necessity of counterweight

• Better aesthetics

– Safety chain• Stronger material

– Vocal capabilities• Ability to announce play, indicate start of play, etc.

Key Technical Issues

Wheels– Number, Alignment, and Size– Coupler Design

- Our design point

Key Technical Issues – WheelsWheel Assembly

Wheel Coupler

Key Technical Issues

Air Cannon– Firing Mechanism

• Manual and electronic control

– Securing Cannon• Multiple HDPE supports to prevent lateral and backward

movement

Key Technical Issues - Air CannonAir Cannon Connection

Key Technical Issues

Cam Design and Support– Lifting the Platform

• Designed Oscillating Flat Faced Cam-Follower Mechanism

– Supporting Cam and Stepper Motor• Central PVC support with two HDPE supports to prevent

lateral movement

Key Technical IssuesCam-Follower Mechanism

Key Technical Issues

Automation and Controls– Integration of motors and necessary electronic

components to control them• Two drive motors controlled by H-bridges and one

stepper motor controlled by driver board

– Writing and refining code to run plays• Four preset plays and presets to demonstrate basic

movements

Key Technical IssuesAutomation and Controls

Circuit Diagram

Key Technical Issues

Safety– 70 psi maximum pressure– Hand pumping for better pressure control– Schrader valve

• Manual pressure release

– 90o maximum turns– 5 second delay before play starts– Safety chain– Softer ball– Machine Screws

Prototype Performance

Prototype Performance Requirements– Fits within rules developed– Demonstrates aspects of American Football– Includes embedded intelligence– Accuracy

• Accurate within desired ranges – 5 ft radius, 15 attempts• Dependent on

– Surface– Battery charge– Human error in filling air cannon pressure chamber

Final PrototypeCAD assembly of the Robot

Final PrototypeAir Cannon

Final PrototypeCompleted Prototype

Feasibility

Repeatability– Return to the line of scrimmage– Consistent distance for pressure

Entertainment Value– Appeals to engineers and non-engineers

Potential– Long-term intercollegiate program

Thank You

Questions?