ShopBot

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ShopBotYour Mother doesnt work here, but
ShopBot does!

• Max Koessick

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ShopBot
Project Brief

• Autonomous vehicle that will detect and collect
  ferrous tools/hardware from a garage floor in a
  random pattern
• Based on 1/16th scale R/C tank chassis
• Behaviors implemented include metal and weight
  detection, obstacle avoidance, positive object
  grasp

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ShopBot Platform/Drive Systems

• Dual Clutch Servo Controlled Directional System
• Servo Speed Controlled (3/1)
• Metal Tracks/Gearbox
• 7.2V 3000mAh Battery (Drive System Only)

Dual Clutches
Clutch Servo
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ShopBot Platform/Drive Systems

• Arm will rotate in a circular path from ground to
  collection container _at_ 30 to ground
• Electromagnet will grasp item (uses two D cells)

Electromagnet
Collection Container
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ShopBot Computer/Hardware

• Atmel STK500 Development Board with ATMega128
• Discrete power supply for processor
• Electromagnet controlled by power-FET with logic
  level gate drive capability

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ShopBot
Sensors

• Metal Detection
• Hall Effect/Proximity Sensor targets ferrous
  objects
• Sinking output (negative logic)
• Located inside vee aluminum corral with
  bumpswitch
• After detection, will back up to place arm over
  object

ShopBot
Forward
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ShopBot
Sensors

• Weight Detection
• Target weight lt 1 pound
• Sensor consists of calibrated spring mechanism
  that deflects with one pound

Negative V
Weight closes the contact
Electromagnet
Positive V
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ShopBot
Sensors

• Obstacle (Wall/Large Object) Avoidance
• IR Ranger mounted in array on top
• Angled to detect walls of garage, but not low
  profile tools
• Arm bumpswitch
• Ensures positive engagement of target throughout
  arm rotation
• Also will reveal release of tool into basket.

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ShopBot
Conclusions

• Feasibility of electromagnet still questionable
• Completed simple experiment with nail and wire
  wrap wire (picked up wire wrap tool and IC
  extractor with 1V)