Outline• Background• First Semester Work• Mechanical
OverallBaseShoulderElbowWristPoker
•Electrical Control System Outline Microcontroller Motor Controllers Control Interface
Background
• RLEP – NASA sponsored program to develop small scale robotics to aid in exploring the lunar surface
• Purpose: Design a robotic manipulator device capable of effectively breaking through hard soil and chipping rocks.
• Moonavators Team - 6 members
K-10 Rover
First Semester Work
• L07 redesign Stiffen arms Add gearing to
remove slop from system
• Research/ Initial development
M08 Robot
Base
• Direct Drive Motor Housing
• Provide polar motion to robotic arm
• Friction free motor
Shoulder• Motor and
gearbox are paired• High torque, light
weight• Controls vertical
arm movement
Elbow
• Small motor high torque, low speed• 60:1 gearbox for increased torque• Increase the precision of linear positioning
Wrist
• Small motor high torque, low speed
• 120:1 gearbox for increased torque
• End effecter positioning
Shovel
• Scooping• Pushing• Lifting• Impact Force
Percussive Poker Development
Poker• Purpose to chip rocks
and break hard soil• Fracture with quick and
repeated impact• Double impact cam
action• High speed low torque
motor• Heat treated
components
Electrical
Control System Outline• User interface
Playstation controller • Microcontroller
Rabbit 4110 microprocessor• Types of motor controllers
BLH 450, shoulder motorB15A8N, base motorBH-25, elbow, wrist, poker
motors
Microcontroller
• Rabbit 4110 Replaces Two Basic Stamp’s, Mini-ITX
Motor Controllers
• BLH 50 K (Oriental Motor Co.) Shoulder motor
• B15A8N (Advanced Motion Control)Base motor
• HB-25 (Parallax)Elbow, Wrist, Poker motors
Control Interface
• Human user interfacePlaystation controller
• Serial port interfaceCan be externally controlled via serial port
Thank You
• NASA Ames• NASA Idaho Space Grant Consortium• Mentors:
Aaron GoodinJohn Lacy
• Russ Porter• UI Faculty: Steve Beyerlein, Jean Teasdale,
Dave Atkinson, Becky Highfil, and others.
