Luis GonzalezArgueta

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Sumo Robot Crushinator
Luis Gonzalez-Argueta Electrical
Engineering Guillermo Sandoval Computer
Engineering Advisor Dr. Matthew Barth Department
of Electrical Engineering University of
California Riverside
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Abstract

• Our goal is to create an intelligent sumo robot
  by implementing a network of sensors to a 20x20cm
  platform.
• Platform must meet the following specifications
• Max weight of 6.6lbs
• Move across a 154cm ring at 77cm/sec (2sec at
  231.6RPM)
• Minimum stall torque 150oz-in
• Pushing force of 15lb
• Minimum battery life time efficiency at 20min
• Data Acquisition
• Motorola HC12 main processor
• Sensor data is fused on the fly by the Motorola
  HC12
• Object Sensors
• Low supply power
• Minimum of 80cm range sensing distance
• Line Sensors
• Interrupts enabled when triggered by sensors
• H-bridge motor control
• 4 MOSFET controlled by 4 i/o lines
• Pulse modulated signal allows motor speed control
• Average 12V supply voltage and 14V at overdrive

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Crushinators Algorithm
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Phase I Schedule
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Phase II Approach

• Test Motor Efficiency
• Stress analysis on Solidworks
• Matlab Simulations
• Duty Cycle, Current, Speed, Torque
• Sensors
• Line and Infrared sensor
• Different elevation and lighting conditions
• Ultrasonic Sensor
• Target location
• Map blind spots due to shape or location of
  target
• Finalize Algorithm
• Implement different techniques for offensive and
  defensive modes
• Efficiency
• Attain a sponsor to cover the remaining purchases