R I T Team Members: Dan Lester → Team Lead Chris Feuerstein → Lead Engineer/Electrical Lead Mike Schwec → Electrical Support Jacob Hillmon → Electrical Support Huan Yu-Chen → Mechanical Lead Delnessaw Hirpa → Mechanical Support David Ng → Microcontroller Lead Oliver Yuen → Microcontroller Support P08201 – 10kg Ro P08201 – 10kg Ro b b otic Platform otic Platform This project is supported by a gift from the Gleason This project is supported by a gift from the Gleason Foundation to the mechanical engineering department at RIT. Foundation to the mechanical engineering department at RIT. .
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R I T Team Members: Dan Lester → Team Lead Chris Feuerstein → Lead Engineer/Electrical Lead Mike Schwec → Electrical Support Jacob Hillmon → Electrical.
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This project is supported by a gift from the Gleason This project is supported by a gift from the Gleason Foundation to the mechanical engineering Foundation to the mechanical engineering
department at RIT.department at RIT. .
RIT
Agenda
• Introduction – 10 minutes• Mechanical Subsystems – 20 min
Project DescriptionProject Description• The mission of this family of projects, within the Vehicle Systems
Technology Track, is to develop a land-based, scalable, modular open architecture, open source, fully instrumented remote/controlled vehicular platform for use in a variety of education, research & development, and outreach applications within and beyond the RIT KGCOE.
• This student team will re-design two modular, fully functional robotic platforms capable of carrying a payload anywhere in the robotics lab, room #9-2230 in Building #09 on the RIT campus.
• One drive platform shall be three wheeled, with at least one motor module, and a payload capacity of at least 2.5kg.
• The second drive platform shall have at least four wheels, with at least two motor modules, and a payload capacity of 10kg.
• Each platform will be required to accomplish two tests as stated in the PRP.
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Customer NeedsCustomer Needs
•The platform must re-use as many parts as last year’s designs as possible.
•The platform performs safely
• Must be able to carry a payload of 10kg
• Fits within $8000 Budget between all 3 project groups.
• The robotic platform must be battery powered
• The platform is robust
• Off the Shelf Components
• The platform performs testing requirements
• Impressive looking for high school students in the US FIRST robotics competition.
• Interchangeable modules (at least one) within 120 seconds
• Scalable with 100kg (with expectations to scale down to 1kg)
• Adaptable for other senior design projects
•Robot must be able to be controlled remotely
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P07204 Selected Concept
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Rectangular Configuration
Length: 26.75 inches
Width: 27.0 inches
Height: ~21.0 inches (without payload)
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Triangular Configuration
Length: 24.0 inches
Width: 23.0 inches
Height: ~19.0 inches (without Payload)
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• Made of inexpensive, strong, lightweight acrylic tubing• Easy assembly – members are joined with epoxy, and
screw
New Chassis Structure New Chassis Structure
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Modular Motor MountsModular Motor Mounts
• Easily mounts motor modules to chassis• Modules fixed in rails with two thumbscrews• Adding or removing modules is quick and easy• Made of inexpensive, easy to machine plastics
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Platform Selection Criteria
7204 8201
Platform Selection Criteria
Weight RatingWeighted
ScoreRatin
gWeighted
Score
Robust 20 3 0.6 4 0.8
Low Center of Gravity 10 3 0.3 4 0.4
Ease of Manufacture 20 3 0.6 2 0.4
Component Protection 15 3 0.45 4 0.6
Modularity 15 3 0.45 3 0.45
Weight 10 3 0.3 2 0.2
Durbality 10 3 0.3 3 0.3
Total Score 100 3 3.15
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New Motor Design Concept
• Focus on easy assembly, low center of gravity, shorten the overall height
Old New
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2:1 Motor Module
• Axle design has low ground clearance and large turning radius and restriction for infinite rotation
• Steering Motor torque restriction2:1 Axle 2:1 Belt
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1:1 Motor Module Design
• Flat design allows for infinite rotation • Low Design significant lower the center of gravity,
however it’s rotation is restricted by the wiring.
Flat Low
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Selection Criteria
Concepts (8201)
2:1 Drive Low Drive Flat Drive
Motor-Wheel Assembly Concept Selection
Criteria
Weight (%)
Ratingweighted Score
Ratingweighted
ScoreRatin
gweighted Score
Cost of Material 20 4 0.8 4 0.8 3 0.6
Weight 10 3 0.3 3 0.3 3 0.3
Appearance 30 2 0.6 3 0.9 4 1.2
Ease of Manufacturing 20 3 0.6 2 0.4 3 0.6
Adaptability 20 1 0.2 1 0.2 2 0.4
Total score 2.5 2.6 3.1
Rank 3 2 1
Continue? No No Yes
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Risk Analysis of Mechanical Components• Clear Acrylic Tubing
– Load Carrying Capability
– Bending of Members
– Impact Resistance
– Scratching / Weathering / Cracking
• Epoxy– Alignment of Members
– Cleanliness upon Application
– Fatigue over time
– Complete Failure under Loading / Operation
• Motor Mount Thumb Screw– Vibration under Operation
• High Density Polyethylene (HDPE) Motor Mounts – Flexing under loading
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Electrical Systems Overview
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Harris HIP4081A H-Bridge Driver IC and NMOS Bridge