R I T Advisors: Dr. Wayne WalterMechanical Engineering Dept. Faculty Jeffrey WebbTeacher’s Assistant Team Members: Aman Verma EE - Electrical Craftsman.

RIT

Advisors:Dr. Wayne Walter Mechanical Engineering Dept. FacultyJeffrey Webb Teacher’s Assistant

Team Members:Aman Verma EE - Electrical Craftsman

A. David Gomez ME - ManagerBenjamin Smith ME - Mechanical DesignerJames Aclub EE - Electrical Systems LeadJames Harris EE - Software Engineering

Jeffrey Gill ME - Mechanical CraftsmanJesse Baker ME - Systems IntegrationTian Zheng EE - Electrical Designer

RP100:100kg-Payload Robotic PlatformP07205

Sponsored By:

The Gleason Foundation

RIT

Project DescriptionProject Description

Track Objective: To create a general-purpose, modular platform capable of safely transporting variable payloads.

Team Objective: To combine the technologies developed by previous design teams into two fully-operating configurations: rectangular and triangular.

Primary Customer: RIT Mechanical Engineering Dept,

Dr. Edward Hensel Jr.

Secondary Customers: Researchers and Enthusiasts

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Top-level Customer Needs

Customer Needs• Perform safely• Comply with regulations• Perform tasks in KGCOE• Modularity• Economical• Robust• Accommodate other add-ons • Appeal • The project is properly documented• Easy to manufacture

Prototype Requirements• Max Payload: 100kg (rectangular) 30kg (triangular)• Total Budget for both platforms: 600.00USD• Motor Module Exchange time: 120sec• Locate 5 coordinates autonomously

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Triangular Platform ConceptTriangular Platform Concept

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Rectangular Platform ConceptRectangular Platform Concept

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Rectangular Platform ConceptRectangular Platform Concept

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Rectangular Platform ConceptRectangular Platform Concept

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Rectangular Platform ConceptRectangular Platform Concept

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Quick Change Motor MountQuick Change Motor Mount

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Electrical Wiring Concept

• PC104 standard technology is designed for limited space applications – Compact (3.6 x 3.8 in)

– Rugged and reliable connectors– Low power consumption (1-2watts per module)

• PC104 enclosure is designed for hostile and mobile environments• Shielded wiring will be used to prevent coupling of electrical noise• Connection terminals will have locking mechanism to improve robustness• Kill switch is used in case of an emergency

PC104 enclosure

Power supply(include battery)

Kill switch

P07202Motor module(s)

PC104 STACK (91mm x 97mm)

PC104 SBC

P07301DAQ

P07302Motor controller

ISA bus

ISA bus

User Interface

CAN bus

24Vdc

24Vdc

On Board Electronics

12V

5VSerial bus

Push Button Kill switch

PC104 stack

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Power Board Concept

• Motor modules will be self-regulated• The power distribution board will provide 5V and 12V to the PC104 stack• Features:

• Over current protection to onboard electronics• Voltage surge protection• Provide regulated aux outputs ( two 12Vdc and two 5Vdc line)• Its scalable by ‘stacking’ additional power boards

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SOFTWARE & USER INTERFACE CONCEPT

User inputs/Coordinates

Labview GUI

General Hyperterminal Motor

controller software

Platform command

intrepertation&

Navigation

LAPTOP OS

RS232 (command set)

PC104 SBC OS

Motor Module software

CAN bus17 motor

commands

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Bill of Materials

• Budget Risks– Mitigation: Use RIT resources and order

Samples to avoid purchasing minor components such as fasteners & resistors

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Risk Assessment• Motor Module (P07202) Requirements

• Current 45A w/spikes up to 82A• Heat 300F

– Mitigation: Use heavy-duty wiring Design frame and Thermal Analysis

• Test on Tube Inserts, Bolts and Connectors– Mitigation:

Impact analysis Vibration analysis

• Center of Gravity– Mitigation:

Payload constraints implemented Turning radius and speed of the platform restricted.

• Non-deliverable Power Board of the Motor Controller team (P07302)– Mitigation:

Use RP-100 Power Board to provide regulated voltage.

• Batteries• Budget• Battery Life

– Mitigation: Negotiate with P07202 Motor Module team Battery Life monitored by battery indicators.

• Kill Switch Design and Capability– Mitigation:

Standard red mushroom-shape Placed between the two 12 Volt Batteries connected in series

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State of Design

Status Budget Performance

Status of Systems Motor Control System Data Acquisition System Motor System

Needs Specifications

Open Source Scalability - 1000kg

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Project Timeline

12/4/2006 5/18/2007

1/1/2007 2/1/2007 3/1/2007 4/1/2007 5/1/2007

5/18/2007MSDII Ends

3/2/2007MSDI Ends

1/19/2007Concept Review

2/16/2007Design Review

3/23/2007Detailed Design Review

Planning Concept Generation Sys-Level Design Detailed Design

12/4/2006Project Starts - PRP

12/15/2006Project Schedule

12/22/2006Customer Needs

1/12/2007Engineering Specifications

Testing & Refinement

2/23/2007

Milestone Description(Current Phase: Detailed Design)

4/7/2007Tech. Paper

4/15/2007Function & Performance

Review

4/18/2007 - 5/16/2007Testing

3/22/2007 - 4/18/2007Prototype Fabrication

5/14/2007Final Review

4/26/2007Website

5/5/2007Poster