Critical design review l.jpg
This presentation is the property of its rightful owner.
Sponsored Links
1 / 18

Critical Design Review PowerPoint PPT Presentation


  • 46 Views
  • Uploaded on
  • Presentation posted in: General

Critical Design Review. WPI / Mass Academy FIRST Team 190: Gompei and the HERD. Friday, February 17, 2006. Presented By: Ken Stafford, Team Advisor Chris Werner, Director of Operations. Outline. 2006 Game Review Design Concept Review Mechanical Controls. The Game. Game Animation.

Download Presentation

Critical Design Review

An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript


Critical design review l.jpg

Critical Design Review

WPI / Mass Academy

FIRST Team 190: Gompei and the HERD

Friday, February 17, 2006

Presented By:

Ken Stafford, Team Advisor

Chris Werner, Director of Operations


Outline l.jpg

Outline

2006 Game Review

Design Concept Review

Mechanical

Controls


The game l.jpg

The Game

Game Animation


Design concept review l.jpg

Design Concept Review

  • Established an ordered list for gameplay:

    • Score balls

    • Collect/Contain Balls

    • Score on platform

    • Defense-specific

    • Push Balls


Final design l.jpg

Final Design

  • Six-wheel drive with two speeds

  • Ability to get balls from the floor and human player

  • Controlled delivery to shooter device

  • Ability to shoot balls into center goal on-the-fly from our side of the field

  • Many offensive and defensive autonomous options


Mechanical driveline chassis l.jpg

Mechanical – Driveline/Chassis

  • Driven by 4 CIM Motors through a two stage reduction

  • Six 5” rubber caster wheels

    • Provide both traction and shortened wheel base

    • Speeds up to 9 ft/s

  • Ludicrous Speed Drive

    • Four 3” rubber caster wheels

    • Powered from main wheels

    • Pneumatically raised and lowered

    • Provide speeds up to 16 ft/s


Mechanical ball collection l.jpg

Mechanical – Ball Collection

  • Two 2” PVC rollers in front of rigid back panel

    • Powered by mini-bike motor

    • 19” long to provide large contact area

    • Hole pattern to assist in gripping of balls

    • Spins at 3000/1500 rpm

    • Provides 20% “squish” of ball

  • Center deflector

    • Effectively creates two “ball paths”

    • Diverts balls upon entering robot


Mechanical ball sorting storage l.jpg

Mechanical – Ball Sorting/Storage

  • Five by four “revolver”

    • Allows for quick and easy ball sorting and access

    • Effectively stored in “single file”

    • Approximately 25 ball capacity

  • How it works

    • Balls filled into two front openings

    • Balls gravity-feed from opposite end

    • Pneumatic “flapper” allows for

      72-degree indexed rotation to occur


Mechanical ball launching l.jpg

Mechanical – Ball Launching

  • Ball pitcher on turret to allow for 360 degree shooting (1½ total turns)

    • Driven by globe motor to CNCed Lexan sprocket

  • Ability to score from 6 to 21 feet using same release angle

    • Fixed deflector angle allows wide shooting range due to ‘flat’ trajectory


Mechanical ball launching10 l.jpg

Mechanical – Ball Launching

  • Balls given backspin to “roll up” deflector

  • Contain pitcher mechanism at bottom

  • Pneumatic cylinder to lift ball into pitcher

  • Two 4” rubber wheels in series

    • Driven by two Fisher Price motors

    • First wheel at 4000 RPM;

      second wheel at 7000 RPM

    • Provides 20% “squish”

    • Imparts exit velocity of ~10m/s


Controls l.jpg

Controls

  • Controls challenges:

    • Continuously keep the turret/pitcher aimed at the center goal even while the robot is moving

    • Operate all the other robot mechanisms to ease the human operator workload

    • Multiple autonomous strategies including scoring on the center target during initial 10 sec period


Controls navigation l.jpg

Controls – Navigation

  • Distance Measurement

    • CMU Camera

      • Computes distance to target using color tracking and calculating based on y-axis

      • Computes horizontal offset using x-axis position

    • Gear Tooth Counters

      • Provide velocity information

        for shoot-while-driving

  • Robot Orientation

    • Solid-state gyro provides heading information


Controls additional sensors l.jpg

Controls – Additional Sensors

  • Optical sensors

    • Balls in “ready to fire” position

    • Full/empty slots in revolver

  • Wheel encoder

    • Monitor the speed of the pitching motors to allow for proportional integral adjustments

  • Roller-follower

    • Limit switch to indicate position/index of revolver

  • Flapper sensor

    • Detects when flapper is fully closed before revolving


Controls autonomous l.jpg

Controls – Autonomous

  • Very similar to driver-operated periods

    • Vision camera tracks light and determines when to shoot

  • Ability to select delays and different paths to drive for unpredictability and compatibility with alliance partners


Controls operator interface l.jpg

Controls – Operator Interface

  • Driver controls both driveline and ball collector

  • Operator station to control ball launching

    • Switch to indicate offensive/defensive periods

    • Ability to fine tune the shooting vector

    • Fully automated or fully manual shooting modes

  • Sensor feedback to operator

    • Indicator lights to show target

      acquisition


Timeline milestones l.jpg

Timeline Milestones

  • Jan. 7th – Kickoff

  • Jan. 11th – Strategy decision

  • Jan. 15th – Overall configuration

  • Jan. 27th – Preliminary Design Review

  • Jan. 30th – Chassis built

  • Feb. 5th – Driver try-outs

  • Feb. 7th – Mechanical subsystems built

  • Feb. 11th – Systems integrated

  • Feb. 17th – Critical Design Review

  • Feb. 21nd – Ship robot


Competition schedule l.jpg

Competition Schedule

  • Granite State Regional (Manchester, NH)

    • March 2nd – 4th, 2006

  • Florida Regional (Orlando, FL)

    • March 10th – 12th, 2006

  • Championship Event (Atlanta, GA)

    • April 27th – 29th, 2006

  • [email protected] 7 (Worcester, MA)

    • June 23th – 24th, 2005


Questions l.jpg

Questions?

For more information visit our website at http://www.wpi.edu/~first/

Everyone is welcome to stop by and visit us in the lab (Higgins 005) or at any competition (just ask for details!!)


  • Login