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Preliminary Design Review
Presented By:Ken StaffordNick GalottiChris Werner
WPI / Mass Academy
FIRST Team 190: Gompei and the HERD
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
What is FIRST?
• Organization to make science and technology fun for students
• Brings engineers and students together to work on a common problem
• Almost 1000 teams across the world
• NOT an academic project per se
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Our Team• Competing since 1992• WPI students are the Mentors
to Mass Academy students• 40+ demos a year• Called “the highlight of their
WPI engineering education” by past alums
• WPI’s “#1 women and minority outreach program”
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Team Organization
AdvisorKen Stafford
Team President
Paul Dovydaitis Director of Support
Nick GalottiDirector of Operations
Chris Werner
Administrative Assistant
Chief of Marketing
Chief of Awards
Manufacturing Coordinator
Chief of Mechanical Operations
Chief of Controls Engineering
Chief of Tactics
Co-AdvisorBrad Miller
Support
• Administration
• Marketing
• Awards
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Administration
• Website– http://users.wpi.edu/~first/– News and Events
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Marketing
• T-shirt design
• Donated Food
• Decorates Robot
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Awards
• Chairman’s Award– Most prestigious
award– 4 page paper about
our team and how we exemplify the meaning of FIRST
– Journal
• Animation• Inventor
Operations
• 2004 Game • Brainstorming• Autonomous Timeline• Mechanical• Controls
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
The Game
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Brainstorming
• General ideas about the game
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Brainstorming
• Broke into small groups• Developed list for robot capabilities
• Maneuver around the field• Manipulate Small Balls• Manipulate Big Balls• Hang on the bar• Knock off bonus balls• Manipulate Goals
• Discussed ball containment vs ball pickup
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Brainstorming
• Met in different groups to develop initial robot designs
• After two days, groups convened to present ideas
• 3 of 4 groups designed primarily small ball manipulators
• One designed a primarily hanging and big ball manipulator
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Brainstorming• Developed a
weighted matrix to analyze small ball manipulation vs. hanging
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Brainstorming
• Students met over the next two days to develop the designs further
• Three ideas were presented • Small Ball Containment• Small Ball Pick-up• Hanging
• Team members voted and decided to create the hanging robot
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Final Design
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Autonomous Timeline
Start of match
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Autonomous Timeline
Approaching the stairs
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Autonomous Timeline
5.5 Seconds
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Autonomous Timeline
Autonomous Completed (15 Seconds)
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Mechanical – Driveline/Chassis
• Driven by 2 Bosch Drill Motors
• Lightweight Aluminum Chassis
• 8 - 8” Pneumatic Wheels• Facilitates Stair Climbing• Only 4 wheels in contact at any time• Inside wheels allow the robot to traverse the
narrow passage without falling off platform
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical – Driveline/Chassis
• EDL: Electronic Differential Lock• To allow the robot to drive perfectly straight by
locking left and right drivelines together
• KSD: Kamen Straddling Device• Allows the robot to start in an optimal position
and meet the rules on robot starting position
• LAD: Laser Aiming Device• Mounted on robot to ensure it is lined up exactly
in place every match
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical – Arm Design
• Designed to allow big ball manipulation while hanging on the bar
• Includes:• Turret• Extension• Wrist• Gripper• Shoulder
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - Turret
• Driven by a seat motor with screw drive
• 3” OD x 1/16” wall x 36” torque tube
• 20 degree rotation to the left or right
• Takes 7 seconds to rotate 40 degrees
• Facilitates big ball grabbing and placement in the event that the robot is off-center on the bar
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - Turret
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Mechanical – Arm Extension
• Modeled after our 2001 robot arm• Uses globe motor and window tape drive• Extends ~7” per second• Allows for 85” of extension• Uses 1” x 3” and 1” x 2” aluminum
channel
• Allows us to reach both stationary goals with a ball while hanging
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - Wrist
• Driven by globe motor
• 250 degrees of rotation
• Pivot offset 1.5” to allow for proper storing when in our starting configuration
• Allows us to optimize ball pickup and delivery based on our position
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - Gripper
• Pneumatically powered using a 1” bore, 3” stroke cylinder
• 6” ‘sweet spot’ on either side
• 4 sets of prongs to grab ball extend 7.5” above and below the centerline
• Ability to grab ball from around the poles
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - Shoulder
• Driven by a Van Door motor to dual capstones
• Cross shaft for capstones located low enough to make room for hanging device
• Can rotate 180 degrees in 3 seconds
• Allows for quick exchange of the big ball from their goal to ours in the final seconds of the match
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - SODs
• SODs: Shields of Doom• Shaped like Pi• Deploy once hanging and cover the
entire bar• Individually controlled
• Allow us to block opponents from hanging on the bar and lift to allow our alliance partner on if desired
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Mechanical - Probe
• Winched cable, driven by a CIM motor
• Designed to pull robot up in 4 seconds
• The final 3” of motion activate 2 locking latches, 15” apart, applying positive engagement with the bar
• Latches are spring-loaded, over-center mechanisms; they can be released by servo
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Controls
• Controls challenge:– Navigate autonomously to bar– Grab large ball– Lift up to hanging position– Place ball on opponents goal
• Additionally provide many operator automated operations
• Controls functions have already been prototyped on EDU Robots
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Autonomous Requirements
• To complete the autonomous move we need to:– Hit the stairs at a position within a few inches– Navigate around the fixed goal– Arrive within 6” of the big ball
• Requirements include precise position knowledge – distance and heading– Hoping for augmented dead reckoning– Have additional sensors available to help determine
position
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Controls – Optical Encoder
• Left and right wheels will be equipped with optical encoders– Provides precise
distance measurement
– Additionally gives us a software EDL (Electronic Differential Lock)
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Controls - Gyros
• Two sets of solid state gyros for navigation– Same technology from Gompei 2k3
• Turning gyro (in turning axis)– Provides more precise heading information
• Pitch gyro– Allows us to determine exactly when the
robot has cleared the stairs
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Controls – Operator Interface
• Tank steering for drive
• Additional operator station to operate the probe and arm
• Many directly accessible automated functions, e.g.– Moving ball from one goal to another– Set arm for taking ball from medium goals
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Timeline Milestones
• Jan. 10th – Kickoff• Jan. 11th – Strategy decision• Jan. 17th – Overall configuration• Jan. 29th – Chassis built• Jan. 30th – Preliminary Design Review• Feb. 7th – Mechanical subsystems built• Feb. 8th – Driver try-outs• Feb. 14th – System integration• Feb. 20th – Critical Design Review• Feb. 20th – Chairman’s Award due• Feb. 24th – Ship robot
http://users.wpi.edu/~first/Team 190: Gompei and the HERD http://users.wpi.edu/~first/Team 190: Gompei and the HERD
Competition Schedule
• UTC Scrimmage (Suffield, CT)– 2/21/04
• Granite State Regional (Manchester, NH)– 3/4/04 – 3/6/04
• Arizona Regional (Phoenix, AZ)– 3/11/04 – 3/13/04
• Championship Event (Atlanta, GA)– 4/15/04 – 4/17/04
• BattleCry@WPI 5 (Worcester, MA)– 6/19/04
Questions?
• For more information visit our website at http://www.wpi.edu/~first/
•Anyone is welcome to visit us in the lab weekdays after 1600, Saturdays after 0900, and Sundays after 1200.