Preliminary Design Review Presented By: Ken Stafford Nick Galotti Chris Werner WPI / Mass Academy FIRST Team 190: Gompei and the HERD.

Preliminary Design Review

Presented By:Ken StaffordNick GalottiChris Werner

WPI / Mass Academy

FIRST Team 190: Gompei and the HERD

http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD

What is FIRST?

• Organization to make science and technology fun for students

• Brings engineers and students together to work on a common problem

• Almost 1000 teams across the world

• NOT an academic project per se

http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD

Our Team• Competing since 1992• WPI students are the Mentors

to Mass Academy students• 40+ demos a year• Called “the highlight of their

WPI engineering education” by past alums

• WPI’s “#1 women and minority outreach program”

http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD

Team Organization

AdvisorKen Stafford

Team President

Paul Dovydaitis Director of Support

Nick GalottiDirector of Operations

Chris Werner

Administrative Assistant

Chief of Marketing

Chief of Awards

Manufacturing Coordinator

Chief of Mechanical Operations

Chief of Controls Engineering

Chief of Tactics

Co-AdvisorBrad Miller

Support

• Administration

• Marketing

• Awards

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Administration

• Website– http://users.wpi.edu/~first/– News and Events

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Marketing

• T-shirt design

• Donated Food

• Decorates Robot

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Awards

• Chairman’s Award– Most prestigious

award– 4 page paper about

our team and how we exemplify the meaning of FIRST

– Journal

• Animation• Inventor

Operations

• 2004 Game • Brainstorming• Autonomous Timeline• Mechanical• Controls

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The Game

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Brainstorming

• General ideas about the game

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Brainstorming

• Broke into small groups• Developed list for robot capabilities

• Maneuver around the field• Manipulate Small Balls• Manipulate Big Balls• Hang on the bar• Knock off bonus balls• Manipulate Goals

• Discussed ball containment vs ball pickup

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Brainstorming

• Met in different groups to develop initial robot designs

• After two days, groups convened to present ideas

• 3 of 4 groups designed primarily small ball manipulators

• One designed a primarily hanging and big ball manipulator

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Brainstorming• Developed a

weighted matrix to analyze small ball manipulation vs. hanging

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Brainstorming

• Students met over the next two days to develop the designs further

• Three ideas were presented • Small Ball Containment• Small Ball Pick-up• Hanging

• Team members voted and decided to create the hanging robot

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Final Design

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Autonomous Timeline

Start of match

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Autonomous Timeline

Approaching the stairs

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Autonomous Timeline

5.5 Seconds

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Autonomous Timeline

Autonomous Completed (15 Seconds)

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Mechanical – Driveline/Chassis

• Driven by 2 Bosch Drill Motors

• Lightweight Aluminum Chassis

• 8 - 8” Pneumatic Wheels• Facilitates Stair Climbing• Only 4 wheels in contact at any time• Inside wheels allow the robot to traverse the

narrow passage without falling off platform

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Mechanical – Driveline/Chassis

• EDL: Electronic Differential Lock• To allow the robot to drive perfectly straight by

locking left and right drivelines together

• KSD: Kamen Straddling Device• Allows the robot to start in an optimal position

and meet the rules on robot starting position

• LAD: Laser Aiming Device• Mounted on robot to ensure it is lined up exactly

in place every match

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Mechanical – Arm Design

• Designed to allow big ball manipulation while hanging on the bar

• Includes:• Turret• Extension• Wrist• Gripper• Shoulder

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Mechanical - Turret

• Driven by a seat motor with screw drive

• 3” OD x 1/16” wall x 36” torque tube

• 20 degree rotation to the left or right

• Takes 7 seconds to rotate 40 degrees

• Facilitates big ball grabbing and placement in the event that the robot is off-center on the bar

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Mechanical - Turret

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Mechanical – Arm Extension

• Modeled after our 2001 robot arm• Uses globe motor and window tape drive• Extends ~7” per second• Allows for 85” of extension• Uses 1” x 3” and 1” x 2” aluminum

channel

• Allows us to reach both stationary goals with a ball while hanging

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Mechanical - Wrist

• Driven by globe motor

• 250 degrees of rotation

• Pivot offset 1.5” to allow for proper storing when in our starting configuration

• Allows us to optimize ball pickup and delivery based on our position

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Mechanical - Gripper

• Pneumatically powered using a 1” bore, 3” stroke cylinder

• 6” ‘sweet spot’ on either side

• 4 sets of prongs to grab ball extend 7.5” above and below the centerline

• Ability to grab ball from around the poles

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Mechanical - Shoulder

• Driven by a Van Door motor to dual capstones

• Cross shaft for capstones located low enough to make room for hanging device

• Can rotate 180 degrees in 3 seconds

• Allows for quick exchange of the big ball from their goal to ours in the final seconds of the match

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Mechanical - SODs

• SODs: Shields of Doom• Shaped like Pi• Deploy once hanging and cover the

entire bar• Individually controlled

• Allow us to block opponents from hanging on the bar and lift to allow our alliance partner on if desired

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Mechanical - Probe

• Winched cable, driven by a CIM motor

• Designed to pull robot up in 4 seconds

• The final 3” of motion activate 2 locking latches, 15” apart, applying positive engagement with the bar

• Latches are spring-loaded, over-center mechanisms; they can be released by servo

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Controls

• Controls challenge:– Navigate autonomously to bar– Grab large ball– Lift up to hanging position– Place ball on opponents goal

• Additionally provide many operator automated operations

• Controls functions have already been prototyped on EDU Robots

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Autonomous Requirements

• To complete the autonomous move we need to:– Hit the stairs at a position within a few inches– Navigate around the fixed goal– Arrive within 6” of the big ball

• Requirements include precise position knowledge – distance and heading– Hoping for augmented dead reckoning– Have additional sensors available to help determine

position

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Controls – Optical Encoder

• Left and right wheels will be equipped with optical encoders– Provides precise

distance measurement

– Additionally gives us a software EDL (Electronic Differential Lock)

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Controls - Gyros

• Two sets of solid state gyros for navigation– Same technology from Gompei 2k3

• Turning gyro (in turning axis)– Provides more precise heading information

• Pitch gyro– Allows us to determine exactly when the

robot has cleared the stairs

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Controls – Operator Interface

• Tank steering for drive

• Additional operator station to operate the probe and arm

• Many directly accessible automated functions, e.g.– Moving ball from one goal to another– Set arm for taking ball from medium goals

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Timeline Milestones

• Jan. 10th – Kickoff• Jan. 11th – Strategy decision• Jan. 17th – Overall configuration• Jan. 29th – Chassis built• Jan. 30th – Preliminary Design Review• Feb. 7th – Mechanical subsystems built• Feb. 8th – Driver try-outs• Feb. 14th – System integration• Feb. 20th – Critical Design Review• Feb. 20th – Chairman’s Award due• Feb. 24th – Ship robot

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Competition Schedule

• UTC Scrimmage (Suffield, CT)– 2/21/04

• Granite State Regional (Manchester, NH)– 3/4/04 – 3/6/04

• Arizona Regional (Phoenix, AZ)– 3/11/04 – 3/13/04

• Championship Event (Atlanta, GA)– 4/15/04 – 4/17/04

• BattleCry@WPI 5 (Worcester, MA)– 6/19/04

Questions?

• For more information visit our website at http://www.wpi.edu/~first/

•Anyone is welcome to visit us in the lab weekdays after 1600, Saturdays after 0900, and Sundays after 1200.