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Wandering Ambassador. P11215 2010-1 2010-2. Team Members: Chris Hoerbelt (ME) Greg Mucks (ME) Anthony Poli (ME) Justin Akerman (CE) Jon Notaro (EE) Hersh Anand (EE) Eric Tripp (EE) . Faculty Guide: George Slack. Primary Customer: Stan Rickel. Background :.

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Wandering Ambassador

P11215

2010-1 2010-2

Team Members: Chris Hoerbelt (ME) Greg Mucks (ME) Anthony Poli (ME) Justin Akerman (CE) Jon Notaro (EE) HershAnand (EE) Eric Tripp (EE)

Faculty Guide: George Slack

Primary Customer: Stan Rickel

Background:

Customer conceptualized a robot which demonstrates RIT’s commitment to sustainable energy, innovation, and creativity. The robot would engage in a symbiotic relationship with the plant passenger and by meeting the needs of the plant (sunlight, water), the plant’s needs would positively influence the robot’s actions.

Mission:

Integrate existing hardware with newly designed subsystems to deliver functional prototype ready for software development

Key Objectives:

  • Debug I2C communication interface

  • Design & integrate sensor circuitry

  • Implement redundant safety features

  • Design easy-to-use transport mode

  • Optimize sensor layout

  • Design vibration mitigation features

  • Fabricate and assemble full prototype

Inherited Platform

Upgraded Platform Model

High Level Control / Decision Making

Main Logic Board

Input / Output Ports

Input / command interpretation

Power Conversion

Control Hierarchy

Input / Output devices

Onboard Sensors

Upgraded Drivetrain

MSP430 Microcontroller

Beagleboard Computer

Upgraded Platform Prototype

Plant

Drive Wheel

Transmission

Support Caster

Emergency Stop Button

Motor

Transmission Disengaged

Transmission gears un-coupled to allow pushing of robot

Bump Sensor

Water Reservoir

Chain Guard

Transmission Engaged

Transmission gears coupled to allow motor drive.

Transport Handle

Handle available for transporting the robot. Collapsible when robot is in use.

FEA Analysis

Current Limiting Circuit

Bumpers were loaded with maximum calculated drive load and achieved a factory of safety of 2.0.

Last line of defense after all other bump detection methods fail. Circuit detects motor current draw spike and cuts power to motors and sends signal that current has spiked.


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