ece me 491 2 group 4 winter 2009
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ECE/ME 491/2 Group 4 Winter 2009. Benjamin Chen Suhail Gul Wai-Sze Lok Rob Merkle Brian Shaw Renee Soenen. Meet the All-Star Team!. Benjamin Chen Electrical Engineer. Suhail Gul Electrical Engineer. Brian Shaw Computer Engineer. Wai-Sze Lok Mechanical Engineer.

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ece me 491 2 group 4 winter 2009

ECE/ME 491/2 Group 4Winter 2009

Benjamin Chen

SuhailGul

Wai-SzeLok

Rob Merkle

Brian Shaw

Renee Soenen

meet the all star team
Meet the All-Star Team!

Benjamin ChenElectrical Engineer

SuhailGulElectrical Engineer

Brian ShawComputer Engineer

Wai-SzeLokMechanical Engineer

Renee Soenen Mechanical Engineer

Rob MerkleMechanical Engineer

meet joe bot
Meet JOE-BOT!

JOE-BOT IS COMING FOR US!

RAWRR!

slide4

DC Motor vs Modified Servo

  • DC Motor:
  • Energy efficient
  • Powerful
  • Modified Servo:
  • Excellent control of speed
  • Sufficient torque and speed in a compact unit
  • Internally geared
  • Don’t need H-bridges
slide5

Digital Servo

  • Problem:
  • Kept rotating slowly with no pulse input
  • Possible Reason:
  • Internal mechanical issue
  • Servos and board may not compatible
dc motor
DC Motor

Problem:

  • Exceeded size
  • Less space
  • Solution:
  • Modified original chassis by machining notches
  • Flip the chassis, so the motors were on the underside
design changed
Design Changed
  • Machining notches into the sides
  • Flip chassis provide more space
  • 3 platforms instead of 2
movement

Video of 90° turn

MOVEMENT

Multi – directional wheel called a Transwheel

Two motors drive the set of wheels that are 180° apart

90° degree turns switching power to other set of wheels

Provides versatility of movement with no steering

movement issues

Video of 45° approach across ramp

MOVEMENT ISSUES

Driving wheels lift off the ground at bottom of ramps

Resolve by driving up the ramp at 45°

New FEA due to different torque on the motor shaft

finite element analysis

Y

FINITE ELEMENT ANALYSIS

X

N

Ff

15°

10.545°

∑Fx = 0 = Ff-Wx

Free Body Diagram – 3 Dimensional Torque

∑Fy = 0 = N-Wy

∑M = 0 = Ff*r - T

Wx

Wy

Wsin(10.545°)*r=Wx*r=T

W

fea model
FEA - MODEL

Custom Shaft Assembly

W

T

Nylon Adapter

Motor Shaft

“Universal” Hub

fire extinguisher
Fire Extinguisher
  • Pump
  • Reservoir
  • Check-valve
  • Nozzle
fire extinguisher1
Fire Extinguisher
  • Operating at 12 volts
  • 0.54 GPM
  • Mounted at 20 cm
  • Turned on with a relay switch
fire extinguisher2
Fire Extinguisher
  • VIDEO OF ROBOT EXTINGUISHING FLAME
cost analysis
Cost Analysis

Material Costs

Labor Costs

electronic platform selection
Electronic Platform Selection
  • Motorola HCS12 based EVBplusMiniDragon+
    • Easiest to program for (familiarity)
    • Enough I/O connectivity
    • Low enough overall power usage
stages of development on the design
Stages of development on the design
  • Type of Platform and wheel vs. track
  • Use of servos vs. motors
  • Different types of sensors proposed to be used
  • Navigational Algorithm.
parts and components
Parts and Components
  • Servo mountings and turrets holder
  • 360⁰ Turret
  • Aluminum base shaping and cutting and supports
  • Mounts for motors.
  • Motor Gears.
circuits and wiring
Circuits and Wiring
  • H Bridge.
  • Voltage Regulator.
circuits and wiring1
Circuits and Wiring
  • Pump Switch Circuit.
  • Wiring for Power Sources and sensors
testing and interfacing the sensors
Testing and Interfacing the Sensors
  • Programming servos and setbacks.
  • Motor Control .
  • Sensors Testing.
    • Digital IR Sensors.
    • Analog IR Sensor.
    • Compass Module.
    • TPA 81.
    • Sonar.
navigation

Basic Movement

  • 4 Omni-Wheels, two wheels each side of the robot.
  • Each wheel can be turned independently of the others.
  • The capability of independent wheel control combined with the placement of the wheels allows for versatile movement controls.
  • Very fast zero-radius turning.
  • Vectored movements, e.g. sideways and 45° diagonal movement.

Navigation

navigation1
Navigation

Ramps

  • Ramps have posed a formidable challenge for Joe-bot. Due to the wheel placements, it cannot drive straight onto a ramp. This is both a curse and a blessing.
  • It is possible for Joe-bot to detect a ramp simply by checking the long distance rangefinder. If it has detected that it has not moved and the distance is more than a few centimeters, then it is in front of a ramp.
  • The Joe-bot can then turn 45° and travel at that angle to get on the ramp and over it.

Obstacles

  • Obstacles in the rooms are still a challenge. The sensor array as it stands has a tough time discovering obstacles.
navigation2
Navigation

Hallway Travel

  • Joe-bot has three pairs of short range IR sensors on the front and sides. Also, it has a long range sonar rangefinder.
  • It can currently navigate the hallway by keeping track of whether or not walls are sensed on either side by the IRs and also using the rangefinder.

Room Mode

  • When we approach a room, Room Mode becomes active. This is a special procedure for detecting the candle, putting it out and exiting the room we entered.
  • The room is scanned either once or twice; if we detect extra heat (the candle), the second sweep searches for obstacles.
  • We then move toward the candle and extinguish it.
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