Rochester Institute of Technology TigerBot Rochester Institute of Technology

Group Members Eric Walkama Mechanical Engineer Matthew DeCapua CAD, Structural design Matthew DeCapua Electrical Engineer System Integration John Seybold Computer Engineer Embedded Development Jonathan Cormier Computer Engineer Embedded Development Michael Thomas Electrical Engineer Power, Wiring Kyle Backer Electrical Engineer Power, Speech Control Jeremy Jensen Mechanical Engineer Structural design, Manufacturing Group Members

Benchmarking RoboNova Cost: $1300 Height: 12” TigerBot Cost: $2,300 Darwin Cost: $12,000 Height: 17.9” Benchmarking

Functionality 22 Degrees of Freedom Autonomous Control Wireless Control Object Avoidance Camera Vision Voice Control Balancing Walking - Future Development Functionality

Functional Decomposition B C D E Electromechanical (reference)   Body Movement Servos Stepper DC-motor Linear actuator Cables Selection Criteria Weight Rating Weighted Score cost 25% 1 0.25 3 0.75 4 2 0.5 weight 15% 0.6 0.15 0.45 availibility 0.3 control capable torque 20% 0.8 0.4 capable speed time to implement/shelf part 10% 5 0.2 Total Score 3.65 2.90 3.55 4.00 2.25 Rank Continue yes Motor Concept Screening Matrix Functional Flow Chart Sensors Concept Screening Matrix Environmental Sensors Concepts A B C D Sonar Infrared Laser Rangefinder Photocell Selection Criteria Weight Rating Weighted Score Short Range Detection 25% 2 0.5 3 0.75 4 1 0.25 Long Range Detection Object Definition 15% 0.3 0.45 0.6 0.15 Power Consumption Cost 10% 0.2 0.1 0.4   Total Score 2.50 2.95 2.05 Rank 5 Continue? yes no Functional Decomposition

Detailed Design Component Stress Calculations Torque Calculations leg lift (1 leg) Squat (2 leg) Torque at Hip Ankle Knee MAX (lb-in) 14.44402961 18.74911 18.73543 (oz-in) 231.1044738 299.9858 299.7669 FS 2.076982726 1.600076 1.601244 ROBOARD SERVO SPECS • Standard size digital servo • Torque @7.4V: 35.0 kg-cm/486.0 oz-in • Speed: 0.11 sec/60º • Voltage: 6 to 7.4V • Weight: 70g Elbow Torque F (lbs) 5.118229269 in-lb 16.53188054 oz-in 264.5100886 FS 1.837359031 Detailed Design

Mechanical Design Custom and Commercial Brackets Custom Body Custom Links Custom Hip Joint Mechanical Design Mechanical Design

Computer Design Onboard Computer Balancing Algorithms Walking Algorithms Basic Motion Computer Design

Electrical Design Accelerometer and Gyroscope Infrared and Ultrasonic Sensors Voice Recognition Module Video Camera Vision Custom Power PCB Roboard 110 w/ lUbuntu and ROS EasyVR Speech Recognition Lynxmotion SSC 32 Electrical Design Sharp Infrared Sensor Ultrasonic Maxsonar EZ0 6-axis IMU Custom PCB Layout

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