R I T Team Members: Nandini Vemuri → Team Lead, System Testing, Motor Expert Jason Jack → GUI Design, Microcontroller Expert, Website Administrator John Corleto → PIC Expert, Software Designer Emily Phillips → Power Systems Design, Financial Management Ryan Schmitt → Wireless Systems Design, Software Designer, Website Administrator P09204 – 1kg Ro P09204 – 1kg Ro b b otic Platform otic Platform This project is Sponsored by the Kate Gleason Foundation. This project is Sponsored by the Kate Gleason Foundation.
Transcript
RIT
Team Members:
Nandini Vemuri → Team Lead, System Testing, Motor Expert
Jason Jack → GUI Design, Microcontroller Expert, Website Administrator
John Corleto → PIC Expert, Software Designer
Emily Phillips → Power Systems Design, Financial Management
Ryan Schmitt → Wireless Systems Design, Software Designer, Website Administrator
Jeffrey Howe → PCB Layout Design, Voltage Regulation Expert
This project is Sponsored by the Kate Gleason This project is Sponsored by the Kate Gleason Foundation.Foundation.
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Project DescriptionProject Description
• Provide a product line of off-the-shelf motor modules and platforms for diverse applications
• Scalable, modular, robust wheeled platform to carry payloads of 1kg mass
• Open architecture, Open source development
• Target audience is educational and outreach programs
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Customer NeedsCustomer Needs
•Support 2 motor modules
•Graphical User Interface
•Robust
•Scalable, Modular
•Use open source, open
architecture components
•Battery Life
•Wired and wireless
communication interface
•Multiple levels of
complexity
•Thorough Documentation
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System Level Block Diagram
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Software Layer Diagram
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In House Power Distribution
•These boards have safety factors built in, including fuses to protect the rest of the circuit, and abundant reservoir capacitors to weed out power fluctuations and current spikes.
•By using two separate batteries, the system will be more modular, by allowing the motor battery to be adjusted based on the type of motor being used.
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In House DC Motor Driver
• The DC motor driver is controlled via a programmable PWM signal, and two discrete inputs.
• One discrete input is reserved for enabling or disabling the driver entirely while the other is used to drive the motor in forward or reverse directions.
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Electrical Interconnect Diagram
POWERDISTRIBUTION
12V battery
9V battery
MICROCONTROLLER
STEERMOTOR
DRIVEMOTOR
CROSSBOWMICROCONTROLLER
RS232
9V
GND
5V DC
GND
PIC FEEDBACK PICGND
5V
5V GND
Relay
Enable 1
Relay
Enable 2
12V
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Sequence Diagram
• User communicates with the robotic platform through a wired or wireless communication link (using a Desktop or Laptop PC)
• Microcontroller interprets commands and converts them to logic and timing signals used by the motor drivers
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Risk Analysis of Electrical Components
• Control System– Loss of communication via I2C bus– Cost in space for multiple PICs
• Power System Failure– Thermal Damage– Current overdraw
• Cabling Issues– User Error– Dense cabling inside control system– Non-twisted pair susceptible to noise
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Risk Analysis of Computer Components
• Microcontroller System– Multiple access mitigation– Communication bus latencies
• Remote Control System– Wireless Communication– Communication with Microcontroller
• Navigation System– Accounting for acceleration– Steering motor feedback (if not servos)– System complexity of flexible choice of
motors for drive and steer
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Total BOM Cost Total BOM Cost
Mechanical Cost Breakdown
Electrical Cost Breakdown $700.00
$???.??
Total:
Lot of One – $700.00
Lot of Ten – $7000.00
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Senior Design – Next Steps
• Test plan• Receive parts• Navigation code development on
