ES 140-8: EE Module 3 MWF 12:10-1:00 FGH 244 and 238 (Lab)

ES 140-8: EE Module 3 MWF 12:10-1:00

FGH 244 and 238 (Lab)

Lecture 3: Introduction to Robot Design,

Introduction to Lab

Dr. K, Kevin and Stephen

Department of Electrical Engineering and Computer Science

Fall 2008

Today’s Session

Introduction to Assembly and Trouble Shooting

Introduction to Lab Lab Instructions by Kevin and Stephen

Robot Design and Test

In this module, we will learn - mobile robot assembly, - trouble shooting, and - control (e.g., when to stop or turn robot)

Major Components of Robots

Body (plates, gears, motors, wires, etc.) Power source (battery) Controller (circuit board) Sensors (LED, microphone, infra-red )

Introduction to Lab Team Formation and Naming - Based on the survey, we have formed teams of 3 and assign robot kits. - Today those teams working with Kevin will go to lab. The rest will stay here and work with Stephen the lecture. - If you find someone who agrees to swap with you, you may do so. Let TAs know of any change.

Introduction to Lab Daily Log At the end of each lab, you will enter the

day’s activity in your log sheet. (Assign a recorder

each day.)

Daily Log ES140 Laboratory Daily Log   Team Name: ______________________ Date: _________________   Names: Signatures:   1, ________________________________ _________________________________   2, ________________________________ _________________________________   3, ________________________________ _________________________________   4, ________________________________ _________________________________   

Work done and equipment used:     

Problems Encountered and Solutions:     

Observations, opinions, suggestions:    Please write your name and sign after your comments in each block. If you need more space, ask your TA.  Recorded by,    --------------------------------------------------------------------------------------

Introduction to Lab

Team Report - Team Report will include the daily log sheet. Guidelines for Team Report will be given

later. - Team Report will be due on or before

Tuesday, December 9th.

Robot Contest

Robot Contest will be conducted towards the end of the module.

Detail contest guidelines will be announced later.

Important Guideline for Robot Assembly

Use Patience! The phrase “haste makes waste” is certainly true here.

Make sure to identify and take inventory of all parts!

Important Guideline for Robot Assembly

Use Patience! The phrase “haste makes waste” is certainly true here.

Make sure to identify and take inventory of all parts! Use the proper tools! Ask your TA if you have

questions! Return any tools you used to where they were

originally stored. Ask your TA if you don’t know where to return.

Important Guideline for Robot Assembly

Use Patience! The phrase “haste makes waste” is certainly true here.

Make sure to identify and take inventory of all parts! Use the proper tools! Ask your TA if you have

questions! Double check your and other member’s

work! Before you proceed with an instruction, make sure you understand it.

Help each other!

Lab Cleanup

Use Patience! The phrase “haste makes waste” is certainly true here.

Make sure to identify and take inventory of all parts! Use the proper tools! Ask your TA if you have questions! Double check your and other member’s work! Before you

proceed with an instruction, make sure you understand it. Keep lab daily log! Clean up your workspace before

you leave the lab!

Robot Kits to be used Graymark 601A Sound Controlled Robots “Scooter”

Scooter incorporates many of the basic elements of electrical and robotic technologies. It is a motorized vehicle with a microprocessor connected to a logic circuit. It “hears” a loud sound (most of the time).

Graymark 606A Robot Walker The Robot Walker also incorporates many of the basic elements

of electrical and robotic technologies. It has six “legs” for navigation. It “detects” the presence of objects using a light sensing device.

Graymaker 602A Blinky Line Tracer Robot. This robot uses feedback control to follow a

line. Tricky to make it work.

Introduction to Robot Kit Assembly (1)

601A Wiring Connections (p. 16)

Introduction to Robot Kit Assembly (1)

Caution: Wiring proper parts into proper places is bit tricky. Go over the wiring connetions instruction in the manual carefully. Ask your TA of nay questions.

Ex. 601A Wiring Connections (p. 16)

Introduction to Robot Kit Assembly (2)

Mounting Steering and Battery Holder Assembly

Ex. 601A (p. 15)

Caution: Make sure that the Battery Holder is tightly screwed to the base plate.

Introduction to Robot Kit Assembly (3)

Printed Circuit Board Construction

This is one of the critical steps in your robot assembly. If you insert a part into a wrong place and replace it, the board often delaminated and this will lead to a mulfunctioning robot!

Introduction to Robot Kit Assembly (3)

Printed Circuit Board Construction This is one of the critical steps in your robot assembly. If

you insert a part into a wrong place and replace it, the board often delaminated and this will lead to a mulfunctioning robot!

Caution: Spend extra time to study where a particular part will go before you attach to the board!

Circuit Diagram A schematic diagram showing each

circuit element is represented by a graphical symbol.

Ex. Resister Capacitor Motor

Theory of Sensing and Control

Each manual contains a block diagram in which major sections/functions of robot components are represented by blocks.

Ex. Block Diagram for 601A Scrambler Robot

Today’s Lab (Kevin and Stephen)

Agenda: Discussion of Lab rules, safety etc. Discussion of Lab Log Guidelines for soldering Parts Identification/Inventory

Important Guideline for Today’s Lab

Use Patience! The phrase “haste makes waste” is certainly true here.

Make sure to identify and take inventory of all parts!

Caution: - Bags containing parts are difficult to open.

Use scissors to open them. - Use extra bags your TA will provide to keep

parts.

Today’s Lab Resistor Color Code:

Assignment #3Homework Assignment #2 1 Read the Theory of Operation in the Graymark robot assembly manual. Using one of the following block

diagrams, describe how each component works (20 points): - Fig. 2 on p.7 in the 601A Manual, - Fig. T1 on p. 17 in the 606A Manual, or - Figs. A1 and A13 in the 602A Manual.

AssignmentHomework Assignment #3 – Part 2

Insect Robot Design

2. Answer the following regarding the insect robot you propose

to design. (a) Sketch a rough design of the robot insect. Make sure to include key dimensions. (10 points) (b) Describe how it senses the environment . (10 points) (c) What is a mechanism for navigation? (10 points)

Due: 12:10pm, Friday, October 17 Make sure to staple answers together.