Senior Design Team Senior Design Team 05910 05910 RMSC Robotics RMSC Robotics Display Display Mentor: Bill Scarbrough Mentor: Bill Scarbrough Mary Beth Belczak (ME) Mary Beth Belczak (ME) Matt Boecke (EE) Matt Boecke (EE) John Byrne (ME) John Byrne (ME) Jason Kelly (ID) Jason Kelly (ID) Mike Rhault (ME) Mike Rhault (ME) Amy Tatro (ME) Amy Tatro (ME)
Senior Design Team 05910 RMSC Robotics Display. Mentor: Bill Scarbrough Mary Beth Belczak (ME) Matt Boecke (EE) John Byrne (ME) Jason Kelly (ID) Mike Rhault (ME) Amy Tatro (ME). Background. The Rochester Museum and Science Center has demonstrated an interest in changing their image. - PowerPoint PPT Presentation
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Senior Design Team Senior Design Team 0591005910
RMSC Robotics RMSC Robotics DisplayDisplay
Senior Design Team Senior Design Team 0591005910
RMSC Robotics RMSC Robotics DisplayDisplay
Mentor: Bill ScarbroughMentor: Bill Scarbrough
Mary Beth Belczak (ME)Mary Beth Belczak (ME)
Matt Boecke (EE)Matt Boecke (EE)
John Byrne (ME)John Byrne (ME)
Jason Kelly (ID)Jason Kelly (ID)
Mike Rhault (ME)Mike Rhault (ME)
Amy Tatro (ME)Amy Tatro (ME)
Background• The Rochester Museum and Science
Center has demonstrated an interest in changing their image.
• Recent developments have changed the museum from a place of observation to an interactive learning center.
• The Rochester Museum and Science Center would like to increase the amount of hands-on exhibits at the center.
Robotics Display
• The mission of this project is to create an interactive robotics display for the Rochester Museum and Science Center.
• RMSC stressed that the project must meet eight basic requirements.
RMSC Robotics Display Requirements
• The display must be geared towards children ages 8-14.
• The exhibit must carry a high attractor factor.
• The display must allow the patron to interact with the exhibit.
• People who are not using the exhibit must be able to watch and be entertained.
• Prototyping will be a necessary step to eliminate the “Human Factor”.
• The experience at the exhibit does not have to be entirely educational.
• The exhibit should be easy to use without much instruction.
• A service manual should be provided for maintenance.
Introduction toConcept Development
• This project has gone through many stages of concept development.
• First, multiple project ideas were proposed to RMSC.• RMSC chose which idea to continue with.• Then, a final concept was proposed to RMSC.• RMSC gave feedback and concerns with the final proposal.• Lastly, the final concept was redesigned to overcome
concerns.• The final design concept is a robotic arm that assembles a
stop clock.– A second, user operated, robotic arm will be available
for patrons to manipulate blocks while racing the clock.
Brainstorming• Over 30 project ideas were developed
before the initial sponsor meeting.• After receiving specifications, some
ideas were modified and others were eliminated.
• Project ideas were consolidated and the top choices were ranked based on feasibility and needs assessment.
• The highest ranking projects were proposed to RMSC.
• Due to repeat loading, we will replace 3 servos with a heavy duty version that can withstand a loading of 3lbs.
• The arm will be fitted with an electromagnet to pick up the parts. (http://www.crustcrawler.com/products/arm5.php?id=menu0sub5)
Robot Track
• To increase the robot’s area of reach, we will mount the robot to a straight track.
• Track will be 4ft. long.• A rack and pinion will
be used to move the robot along guide rails, driven by a stepper motor.
Rack and Pinion Robotic Platform
Electrical Block Diagram
Guide Rail Stress and Deformation Analysis
• The actual modulus of elasticity of the hardened aluminum guide rails is unknown.
• Standard aluminum was analyzed.• The loading conditions are shown
below.Shaft Weight
Assembly Weight
Rod ends constrained all degrees of freedom
Aluminum Model: Stress
• Max Stress = 1044psi
Aluminum Model: Deformation
• Max Deformation = 0.0218in
Stress and Deformation Conclusions
• The yield stress aluminum is 50ksi.• The maximum stress of the guide rails
is 1044psi, therefore the rails will not break under these loading conditions.
• The maximum deformation found is 0.0218in. This deformation is negligible in the system.
Drive Motor Torque and Speed Requirements
inlbf
lbfin
T
FrT
4.2
8.45.0
Fr
srev
srevrad
revsrad
sradin
sin
r
v
/
/
//
6.5
6.52
12.35
2.355.0
6.17
v
r
• Motor Speed Require for robot translational velocity:
• Torque Require to overcome maximum calculated force:– Maximum Force due to overcoming static friction.
lbflbf
sf
fx
F
WFF
FFF
8.4124.0
0
FFf
W
s
x+
Impact of Redesign:Air Hockey
• The entire Air Hockey plans had to be scrapped in order to accomplish the Assembly Line project, including:– Electrical calculations– Electrical specifications– Vendor research of major components– Vendor research of electrical components
Impact of Redesign:Assembly Line
The robotic arm and drive system will remain the same.• The electrical system has no changes as the robotics
did not change.• Car parts are no longer necessary. Instead, gears and
other clock parts will be machined.• Blocks will be machined for the user assembly area.• Remote controlled robot will be designed. At that time,
robotic arm options will be assessed.
• Most of the work accomplished before the redesign was maintained.
• Week 10: Final Proposal Modification, Presentation and Report Preparation
Project Schedule:Winter Quarter
• Two additional team members will join the current team.
• Their Senior Design I tasks will include:– Determining electrical components– Preliminary coding of the robotic arm– Developing a graphical user interface for the touch screen
• Current team member tasks include:– Developing a complete design of clock parts– Designing a user activated robotic arm– Creating a drawing package of the display cabinet