R I T Team Members: Dan Lester → Team Lead Chris Feuerstein → Lead Engineer/Electrical Lead Mike Schwec → Electrical Support Jacob Hillmon → Electrical Support Huan Yu-Chen → Mechanical Lead Delnessaw Hirpa → Mechanical Support David Ng → Microcontroller Lead Oliver Yuen → Microcontroller Support P08201 – 10kg Robotic Platform This project is supported by a gift from the Gleason Foundation to the mechanical Engineering department at RIT.

R I T Project Description The goal of this project is to construct a land-based robotic platform for the Vehicle Systems Technology Track. This 10 kg platform is just one of a family of scalable platforms ranging from 1kg to 100kg. This project focuses on improving previous projects from the 7200 family, which fall short of expected outcomes. The re-designed platform is to be modular, open architecture, open source, scalable, and fully instrumented robotic/remote controlled, for use in a variety of education, R & D, and outreach applications within and beyond the RIT KGCOE. This student team will re-design two modular, robotic platforms capable of carrying a payload anywhere in the robotics lab on the RIT campus. The drive platform configuration shall have at least four wheels, with at least two motor modules, and a payload capacity of 10kg. The platform will be required to accomplish two sets of test as stated in the PRP.

R I T Customer Needs The platform must re-use as many parts from previous designs as possible. Re-use of motor module materials, such as drive motors, batteries, and ring gears The platform must perform safely Emergency stop system The platform must be able to carry a payload of 10kg Rigid chassis, designed with strong 80/20 material The platform must fit within the $8000 Budget split between all 3 project groups. Re-use of P07201 materials and budget is estimated to be >$1000 The platform must be battery powered Powered by 2 12V batteries The platform must be robust Strong materials and versatile electronics The platform must utilize off the Shelf Components Microcontroller/communication is provided by outside vendors The platform must perform all testing requirements successfully Capable of manual control and autonomous navigation The platform must use interchangeable modules that can be swapped within 120 seconds. Motor module turntables are able to efficiently slide in and out of 80/20 material The platform must be able to be scaled up or down in size and payload capacity. Similar in design to RP100 The platform must be open source to allow for other senior design projects on it. H-Bridge, Battery Monitor, and, PCB Board are in house and fully documented.

R I T Grading Rubric for Project Review Presentation Project description and high level customer needs – 2 points – team provided a clear summary of the project, including high level customer needs Description of selected concept – 2 points - The team provided a clear, concise outline of the selected concept. Ability to design a system to meet desired needs – 2 points - Students have clearly demonstrated that the product satisfies all requirements. Objective evaluation of project's successes and failures – 2 points - Team objectively identifies strong and weak points of the final design, including potential for future improvements. Ability to communicate detailed design information effectively (written, graphical, and oral) – 2 points - Very effective written and verbal communication.

R I T Robotic Platform Concept Fully assembled appearance of the platform

R I T Basic frame The frames were constructed from 1”x 1” 8020 Aluminum extrusion. The extrusion will be connected to the desired structure using fasteners.

R I T Overall weight,dimension and cost of the chassis –Weight =8.0lbs –Width = 19.0” –Height = 8.0” –Length = 24.0” –cost = $273.55

R I T Method of Connection to the Motor Module –The motor module will have an aluminum tube attached to it where the chassis frame will just slide into it and secured in place using pin.

R I T Motor Module: Original Design Concept Driving Motor Steering Motor Encoder Cover Encoder Mount Ring Gear Turntable Yoke Aluminum Tubes Wheel Direct Drive Shaft Power Transmission shaft

R I T Motor Module: Updated Design Concept

R I T Strengths/Successes and Weaknesses/Failures This section needs to define strength and weaknesses of your subsystem Format: + A strength/success you think necessary to present - A weakness/failure you think necessary to present

R I T Electrical Systems Overview

R I T In-House Battery Monitor

R I T In House CMOS H-Bridge

R I T In House H-Bridge Logic Circuit

R I T In House CMOS H-Bridge

R I T Power Distribution Board

R I T Electrical Interconnect Diagram

R I T Risk Analysis of Electrical Components Control System –Motor controller and motor module –Loss of communication Power System Failure –Inadequate battery life (1hr spec) –Low battery power Cabling Issues –Cabling interference –Motor noise

R I T Strengths/Successes and Weaknesses/Failures This section needs to define strength and weaknesses of your subsystem Format: + A strength/success you think necessary to present - A weakness/failure you think necessary to present

R I T Overview of computer system Sequence Diagram Keywords: *GUI: Graphical User Interface *UART: Universal Asynchronous Receiver Transmitter *PWM: Pulse Width Modulation

R I T GUI Demo UML

R I T Wireless Modules RF Transceivers (250kbps) Commercial band: 2.4GHz Compliant with IEEE Range: 20 – 30 meters indoor Power: 2xAA No line of sight required UART pins on expansion header TI MSP430

R I T State Diagram

R I T UART/RS232 Conversion ST232 IC DB9 Female Connector (RS232) 4 capacitors included with 0.1uF Standard 3.3V – 5V TTL Baud rate: 300 – Ready to assemble Low cost

R I T Microcontroller FreeScale CSM12D module w/ Project Board –Microcontroller Initializations –Software implementation Directional & stop/emergency stop commands Ability to align each motor module separately –System response after loss of communication

R I T Computer System Layout PWM ControlFunctions (Output)Pin Number PWM 0Steer Module # 19 PWM 1Steer Module #211 PWM 2Steer Module #130 PWM 3Steer Module #232 PWM 4Drive Module #134 PWM 5Drive Module #236 6 Digital OutputsFunctionsPin Number EnableEmergency Stop37 F/R #1Left Drive Motor33 L/R #1Left Steer Motor35 F/R #2Right Drive Motor29 L/R #2Right Steer Motor31 5

R I T Strengths/Successes and Weaknesses/Failures Strengths/Successes: + Wireless & Range + LOS is not needed + Low power consumption + Future development + Open source + Easy to program Weaknesses/Failures: - Limited experience - Navigation mode not fully functional - Limited PWM channels - No input feedback

R I T –Pros: –Wireless Communication –Programmable/Functionality –Durability –Cons: –Implementation complexity –Security –Cost

R I T Total BOM Cost Mechanical Cost Breakdown Electrical Cost Breakdown $ $ $ Microcontroller Cost Breakdown Total Electrical: Lot of One – $ Lot of Ten – $

R I T Milestones November 16 th – order parts for Bill of Materials February 1 st – Motor Module machined, assembled, and tested by week 7 of winter quarter March 21 st – Initial Integration of major sub function components April 25 th – Design verification testing May 2 nd – Function and performance review May 9 th – Tech Paper, Design Poster and Website due May 16 th – Final Project Review

R I T Questions?