MechatronicRobotic Project

1
Mechatronic/Robotic Project
Sponsored by Lockheed Martin
Faculty Mentors Prof. Harry Cheng Prof. Andy Frank

• EME 185A/B
• Senior Design Clinic
• Winter/Spring 2006
• Prof. Cristina Davis
• TA Eddie Jordan

Other MAE Support Prof. Roger Davis Prof. Dean
Karnopp Steven Nestinger

• Team Members
• Belaye Assefa
• Choi Ting Lau
• Daniel Trainer
• Jennifer LaFever
• Tri Bui
• Dean Truong (EE)

Lockheed Contacts Johnny Lau Dana Anderson Nevin
Morris Christopher Cupples Nick Degnan
2
Introduction to Problem

• Outline/Rules
• Based on Competition at Northwestern University
• 1 cubic foot
• No explosive substances
• Autonomous Control
• Predetermined Course
• Start anywhere on first block
• Proceed through course in order

• Lockheed gives direction
• Design AND Construct AND Test
• Budget, EME 185 Schedule
• Have fun, keep it simple, keep it interesting.

Given Course Schematic
3
Concept Generation

• Bridge the gap
• Scissor Linkage
• Telescoping Rail
• 4 piece platform
• Unraveling Bridge (Octoganal Shape)
• Jump the gap
• Helicopter
• Frog bot
• Attach to walls
• Suction Cups, Magnets, etc
• Suction Vehicle

Bridge the Gap Designs
Jump the Gap Designs
4
Design Selection Criteria
5
Concept Selected

• Suction Vehicle
• Crawl through gap (rather than bridging or flying
  over gap)
• Two piece design to go over corners
• Joint actuated when detect edges
• Suction system activated when vehicle is
  perpendicular to ground

Schematic of Course Objectives
6
Design Subsystems

• Drive System
• moving forward
• bending around corners
• Controls
• Autonomous control
• Activation of joint, suction at right
  time/position
• Suction System
• Essence of design
• Traveling ON walls
• Body Frame
• Lightweight
• Strong
• Aesthetically pleasing
• Course Construction
• mock of course to test vehicle

Final Layout Drawings
7
Drive System

• Move Forward
• 4 Motors
• Torque/hp analysis
• Timing Belts/Pulleys
• 4 Treads
• 4 Drive sprockets
• 8 Guide Sprockets
• Hold Together (Frame)
• Polycarbonate Structural Pieces
• FEA (Finite Element Analysis) using Ansys
• Actuated Joint
• 2 servos
• Brackets

CAD of Drive System
Ansys Force Setup for a Bracket
8
Suction System

• Design System
• Lightweight vehicle Makes this concept possible
• Test different fans
• Nozzle design for best fan
• Fans
• Ducted RC Airplane Fans
• Duct / Nozzle
• Fiberglass
• Mold from Styrofoam
• Pressure Difference to create force needed to
  hold vehicle against wall.
• Inlet Outlet size
• Fan specs.
• Control System Fluids Analysis

Proposed Design for Suction System
9
Controls

• Sensors
• Tilt Sensor
• MEMS Inclinometer
• Line Sensors
• Optical Electronic/Photo Detector
• Speed Feedback Sensors
• Small motors to give negative/positive value for
  forward/backward motion
• Controls
• PCB Board
• Microcontroller
• H-bridge MOS drivers
• various electronics, wiring
• Power Source/Batteries
• Motors, fans, joint, electronics

Proto- Board, Microcontroller, Wiring
Three Sensors Up Close
Schematic
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Body/Frame

• Holds systems together/in position
• Drive system
• Structural Pieces (FEA)
• Suction system
• Mounted to drive system structural pieces (Static
  Analysis)
• Controls/Electronics
• Hold proto-board(s) down
• Hold Power source in place
• Able to manufacture on campus

Polycarbonate Sheets
Ansys results for drive bracket
11
Final Design Results

• Subsystems Constructed
• All?
• Results From Testing
• Iterations
• Time Trials

12
Design Evaluation Conclusion

• In a redesign
• Focus on suction system up front.