IEEE SoutheastCon Hardware Challenge

Transcription

1 IEEE SoutheastCon Hardware Challenge Cameron McSweeney, Kendall Knapp Brian Roskuszka, Daniel Hofstetter May 2, 207 Advisors: Dr. Jing Wang, Dr. Yufeng Lu, Dr. In Soo Ahn

2 2 Task 3 - Bring Down the Shields Precise Knob Rotation

3 Gripper Arm Design Considerations Rotation Mechanism Precise multiple rotation turning (+- 5 degrees) Size (small enough to fit with the 2 inch limit) Power (able to rotate knob without slipping) Gripping Mechanism Grip strength (able to hold knob without slipping) Able to release upon completion Minimal tangling wires 3

4 Design Options: Rotation Motor Precision Size Power Continuous Rotation Servo Motor Low Small Medium DC Motor with Rotary Encoder Medium Large Large Stepper Motor High Medium Medium 4

5 Gripper Arm Design Options Grip Strength Can Release Wire Tangling? Difficulty to fabricate Plate with Sticky Surface Low/Mid No None Easy Spring Gripper with Release Mid/High No None Difficult Servo Powered Gripper High Yes Maybe Easy 5

6 Task 3 Final Design Servo gripper arm Stepper motor Powered via dual H-bridge Custom coupling mount Multiple mounting positions Rotation functions Two functions for stepper motor rotation created one for 360 clockwise turn, another for 360 counterclockwise turn 6

7 Task 3 Testing and Conclusions Test Servo Gripper Configure Stepper Motor and Dual H-bridge Program Rotation Functions Test whole component Mitigate Cord Tangling Risk Fully functional when lined up within.25 inches 7

8 8 Task 4 - Fire Proton Torpedoes Nerf Dart Firing

9 Design Considerations for Task Accuracy Step climbing Size constraints 9

10 Design Options for Task No Stage 4 mechanism (save space) 3 Nerf Guns with servos to pull the trigger Custom made spring loaded gun with release pins 0

11 Task 4 - Design Process Design Progression. Forgo Task 4 - effort needed elsewhere 2. After Tasks -3 were complete, try to gain some points, if possible 3. Rearrange robot layout to afford some space 4. Quickly adapt prototype to fit within design constraints

12 Task 4 - Final Design Custom triple-barrel design Loaded before competition Metal tube - pull pin to release spring DC motor used to pull pins Aim can be calibrated before each run 2

13 3 System Integration

14 System Integration - Design Considerations Must allow for easy assembly and adjustment at the competition Must have precise navigation especially for tasks and 3 Must fit within the 2 x 2 x 2 specification 4

15 Proposed Robot Design Layouts 5

16 Chassis Construction - First Design Great for preliminary testing One component on each side Rotating top platform for navigation simplicity Easy to turn, no slipping Limitations Not enough space for electronics No easy way to configure wiring DC motors had a high starting torque required and were configured in reverse directions Low navigation precision 6

17 Chassis Construction - Final Modular design Removable platform Removable components Adjustable component positions 7

18 Robot Chassis Construction 8

19 Robot Chassis Construction 9

20 Modular Components and Spacing Top View Without Circuitry Top View With Circuitry 20

21 Modular Components 2

22 System Integration - Software Two microcontrollers needed due to I/O pin constraints ATmega 64A - 44 pins - Navigation, Tasks 2 and 4 ATmega 328P - 28 pins - Tasks and 3 Minimal communication - operates using delays Task status signal sent to Navigation 22

23 23 Project Management

24 24 Division of Labor Team member Significant Contributions Daniel Hofstetter Task 2 Brian Roskuszka Task 3; Robot Design and Layout Cameron McSweeney Tasks and 4; Circuit construction Kendall Knapp Navigation; Robot Design and Layout

25 25 Competition and Results

26 Testing for Competition 26

27 Testing Results and Changes 27 At the Competition Test vibration sensor more sensitive than official sensor: Made robot ram wall in lieu of dowel rod Task 4 not aligned properly: Adjusted navigation slightly Official stage higher than test stage: Raised Task hardware to correct height Line following inconsistent: Reprogrammed to omit IR inputs Task 3 did not align properly: Unresolved issue

28 Competition Results 3 rounds, ranked by total points 9th place out of 5 teams 2nd place in our division of 8 28

29 29

30 30 Discussion

31 Discussion Testing helped us solve problems before the competition that would have otherwise gone unnoticed Modular design worked well at the competition Vision system was too inaccurate and complex to implement on this project Last minute addition of the dart firing mechanism for Task 4 gained more points 3

32 Improvements Increase accuracy of navigation Decrease looseness in gears Improve IR sensor readings Solve alignment with Task 3 knob Improve method for rotating knob Implement vision system Increase inter-microcontroller communication 32

33 33 Conclusion

34 Conclusion Lessons Learned Collaboration is key Always plan time for unexpected delays Be prepared for quick modifications Goals Completed Applied classroom theory to a real-world project Built teamwork and project management skills Represented Bradley in IEEE Presented in the Student Scholarship Expo 34

35 35 References

36 References [] [2] [3] [4] [5] [6] [7] [8] SoutheastCon 207 Hardware Competition Rules [Online]. Available: Atmel, Atmel 8-bit microcontroller with 4/8/6/32Kbytes in-system programmable flash, ATMega328P datasheet, Dec [Revised Nov. 205] Atmel, 8-bit Atmel Microcontroller with 6/32/64/28K Bytes In-System Programmable Flash, ATMega64A datasheet, Jan. 200 [Revised Jan. 205] Atmel, 8-bit Atmel Microcontroller with 4/8/6K Bytes In-System Programmable Flash, ATMega68 datasheet, Jan [Revised Apr. 20] InvenSense, MPU-9250 Product Specification Revision.0, MPU-9250 datasheet, Jan. 204 InvenSense, MPU-9250 Register Map and Descriptions Revision.4, MPU-9250 datasheet, Sep. 203 B. Wilkins, MPU-9250 Hookup Guide, sparkfun.com, 206. [Online]. Available: [Accessed Jan. 9, 207]. K. Winer, "Arduino sketch for MPU DoF with AHRS sensor fusion, github.com, Apr., 204 [Revised Jan by B. Wilkins]. [Online]. Available: [Accessed Jan. 28, 207]. 36

37 IEEE SoutheastCon Hardware Challenge Cameron McSweeney, Kendall Knapp Brian Roskuszka, Daniel Hofstetter May 2, 207 Advisors: Dr. Jing Wang, Dr. Yufeng Lu, Dr. In Soo Ahn

38 38 Parts List

39 Parts Cost - Totals Arena: First Chassis: Final Chassis: Task : Task 2: Task 3: Task 4: $68 $46 $0 $28 $22 $34 $9 Total: $207 39

40 Parts List - Arena Total 2 Quarts Paint Wood Vibration Sensor Rotary Encoder $20 $40 $3 $5 $68 40

41 Parts List - First Chassis Total Drive motors Diodes - voltage protection Caster wheels 4 x8 particle board - platforms Rotating Lazy Susan device Motor Sonar distance sensors Lead Acid battery $6.50 $20 $4.50 $5 $46 4

42 Parts List - Final Chassis 2 n/a Total cost: Base Supports Gears and Wheels DC Motor Velcro strips 2 x3 Pegboard 3 length of 2x4 Presentation Board Roll of Electrical Tape 2 Dowel Rod $0 42

43 43 Parts List - Task Total 6 5 Linear Movement Stepper Motor Springs Logic-level FETs Diode LCD screen 2.2kΩ resistor Proto-board Dual H-Bridge $20 $5 $3 $28

44 44 Parts List - Task 2 Total Servo Motor Magnetic Field Sensor Logic Level Converter Dowel Rod Arm $6 $6 $22

45 Parts List - Task 3 Total Gripper Kit Servo Motor Stepper Motor Mount Stepper Motor Dual H-Bridge $6 $0 $8 $34 45

46 Parts List - Task 4 Total: Springs Pins Barrels DC Motor $9 $9 46