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Advanced Robotics

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Transcript

  • 1. Capstone in Technology
    Tech 499
    Department of Technological Studies
    College of Arts and Sciences
    Jordan Hites
  • 2. Project Description
    Sumo robot being built for a Society of Manufacturing Engineers’ National robotics Challenge.
    Location: Marion Ohio County Fairgrounds
    Date: April 18th, 2009
  • 3. Competition Rules
    Robot must be smaller than 2’ x 2’ x 2’
    Robot must weigh 125 pounds or less
    Must be fully autonomous (no remote control)
  • 4. Competition Objectives
    Two robots are set one foot apart in a 15’ 2” ring
    One of four starting positions is randomly selected
    Head to Head
    Back to Back
    Side to Side facing the same direction
    Side to Side facing opposite directions
    Object is to push the opposing robot out of the ring
  • 5. Economic Analysis
    Electronic components, circuit board
    Battlekit single drive modules, Ampflow E-150 motors
    Colson wheels, rubber wheel swivel casters,
    Proximity sensors
    Twelve volt batteries, pillow blocks,
    Square steel tubing, round aluminum stock, sheet metal,
    Emergency stop, and fasteners.
  • 6. Economic Analysis
    Final Cost: $717.64
    Motors and battle kits sold separately, contrary to our initial inquiry to robotcombat.com
    Added $160.00 to our total cost
  • 7. Environmental Analysis
    • All of the components and manufacturing procedures of our robot are environmentally friendly.
    • 8. Our robot uses valve regulated sealed lead-acid gel cell batteries, which
    • 9. Do not need to be kept upright due to no risk of spilling and
    • 10. Also, virtually no electrolyte evaporation.
    • 11. Instead of using lead-acid wet cell batteries that vent hydrogen and oxygen gasses that might ignite
  • Design
    J
  • 12. Problem Identification
    Circuit Board design problems
    Mounting the prefabricated battle kits
    Machining and mounting of the custom axles
  • 13. Circuit Board Design Issues
  • 14. First Board Design
  • 15. Battle Kit Modification Issues
  • 16. Battle Kit Modification Issues
  • 17. Custom Axle Solution
    Implemented Axle
  • 18.
  • 19. Optimization and Continuous Improvement
    We continuously noticed small things that could be improved upon with our robot, so we would disassemble what was being improved upon, improve it, and then reassemble it. This also increased our fluency with disassembly and assembly, which was very useful when maintenance was needed.
  • 20. Generation of Alternative Designs
    The robot is actually the second design that we came up with. Our initial design was four wheel drive, used motors similar to the ones used last year, and was overall very similar to the robots used last year and the other groups robot.
    Non conventional design and implementation.
    2 motors with 4 wheels
    4 motors 8 wheels
  • 21. Circuit Board Design
    Separation from previous designs involved a circuit board instead of a PLC.
  • 22. Schematics
  • 23. Relay Schematic
  • 24. Circuit Board Design
  • 25. Analyzing and Testing
    We tested the motors and traction by placing roughly seventy to eighty pounds of scrap on top of our robot while trying to orient it towards the front. We also made sure to measure and re-measure everything that we were to model in Pro ENGINEER, so that our drawings could have the most accurate dimensioning.
  • 26. Assessment of Solutions
    We thought we had solved problems involving traction, maintenance, circuit board, axels and battle kits.
    Views on robot before competition
  • 27. Competition
    Timing Delay
    Failure of key
    Circuit breaker flipping