1. BACKGROUND

2. BACKGROUND – Problem Statement
This project bridges the gap between classroom and industry, requiring the use of
mechanical, electrical, and computer programming knowledge and skills to
complete an engineering design project equivalent to the assignments given to
professional engineers. For this design challenge, a robot is required to
autonomously navigate a ramp course, launch a golf ball as reliably as possible,
and return to the starting location within a specified time limit.

3. BACKGROUND – Design Requirements
High Level Design Requirements:
1. Cost
2. Size
3. Functionality
Low Level Design Requirements:
1. Launching Mechanism
2. Steering Design
3. Size/Shape
Image courtesy of UCLA MAE 162D Lecture 1A “Course Introduction”

4. DESIGN PROCESS

5. DESIGN PROCESS – Preliminary Designs
Rotating WheelsSpring Catapult Spinning Bar

6. DESIGN PROCESS – Chosen Mechanism
Simplest form of mechanical energy – Gravity
Testing at every phase of project
Mechanism influenced all areas of design

7. DESIGN PROCESS – Chassis and Drive System
Accomplished Tasks
1. Center of Mass Location
2. Reduction of Vibration
3. Ease of Assembly/Disassembly
4. Rear Wheel Drive System
5. Clean-Cut and Professional

8. DESIGN PROCESS – Steering System
Ackerman Steering
• Rack and pinion differential steering
• Designed for smallest turn radius
• Limited by physical structure

9. FABRICATION / ASSEMBLY

10. FABRICATION
Major Goals Achieved
1. Ease of Fabrication
2. Completion by Week 2
Key Steps
1. T-Slot Extrusions
2. 3D Printing
3. Waterjet

11. ASSEMBLY

12. MECHATRONICS

13. MECHATRONICS – Wiring
Launching Mechanism
• 180° Servo Motor
• Linear Actuator
Drive System
• 165 RPM DC Motor with Encoder
• L298N H-Bridge Motor Controller
Steering System
• 180° Servo Motor
• 4 IR Sensors

14. MECHATRONICS – Programming
Proportional control for wall following
• Limitations on turning
• Modified system
Independent states for each section of ramp
• IR sensor system – limitations
• Detect end of ramp
• Encoder
• Desired speed of robot
Proportional-Integral control for speed