Autonomous Ground Support Equipment – Project WALL-Eagle

Overall AGSE Concept

Overall AGSE Concept

AGSE Payload Hatch

Payload Hatch Function Seals payload bay during flight Hatch opens and closes autonomously with a microservo Guides robotic arm into payload bay

Payload Access Plate and Positioning Single access plate revolves on hinge Hinge operates with microservo Will allow remote opening and closing Optical markers to guide robotic arm

Payload Access Plate and Positioning Single access plate revolves on hinge Hinge operates with microservo Will allow remote opening and closing Optical markers to guide robotic arm

Payload Hatch Animation

AGSE Payload Capture & Transport

Robot Arm Capabilities Needs at least 4 degrees of freedom Controlled by central master-controller Detect Payload via IR sensors Backup: Navigate to predetermined location Be able to lift 4 oz. payload Navigate over payload and rocket hatch

Fabricated vs. Purchased Fabrication Advantages: Customizable for any purpose Cost-effective Deep subsystem educational merit Unique and original High scientific merit Purchase Advantages Commit team-member time elsewhere High-performance Reduce risk of subsystem failure Compensate for lack of team- member experience Customizable parts High scientific merit

Decision: Purchase Robot Arm Chose to purchase commercially available arm. High performance, legacy, and affordability warrant purchase of arm. Arm like Lynxmotion AL5B or AL5D possible choices.

CrustCrawler AX-12A Smart Robotic Arm ~22” maximum reach 5-6 degrees of freedom Most value and capabilities for the price Completely customizable Price - $830

CrustCrawler AX-12A Key Features 1mbs serial communication protocol Dual actuator design in the shoulder and wrist axis for maximum lifting capability (2 to 3 pound (.907kg to 1.36kg) Fully ROS,MATLAB,LABVIEW Compatible! Rugged, all aluminum construction for maximum kinematic accuracy (1mm - 3mm) Hard Anodized finish for maximum scratch and corrosion resistance Compatible with ANY micro-controller/computer control system / programming Language (Open Source!) The only robotic arms that feature feedback for position, voltage, current and temperature Smooth, sealed, self lubricating ball bearing turntable Fully adjustable initial base angle (3) integrated mounting tabs for easy mounting to a fixed or mobile base (5) Gripper options to choose from Full control over position (300 degrees), speed, and torque in 1024 increments Automatic shutdown based on voltage or temperature with status indicator LED Sensor engineered gripper design accepts, pressure sensors, IR detectors, CCD cameras and more!

Robot Arm Gripper Requirements Able to hold cylindrical payload Support 4 oz. weight Reach ground/reach payload bay Able to rotate at the wrist Able to sense that payload has been obtained The Big Grip Kit from the CrustCrawler AX-12A series robotic arms meet criteria plus more

IR Sensors Affixed to front of grabber, scans dark ground (grass/dirt) for light surface (payload). Arm engages payload once detected. If payload dropped, search and capture of the payload may be repeated until mission success

Contingency: Preprogrammed Location Use preprogrammed location of payload in case IR sensors plan doesn’t work out Can choose location of payload, so static coordinates suffice Easier, but will cause launch failure if payload dropped

AGSE Launch Rail and Truss

AGSE Truss Constructed out of durable carbon fiber Designed to support the full weight of the rocket Connected to two electric gear motors Rotates from horizontal to 85° Returns to horizontal after rocket launch

AGSE Truss Bottom is counterweighted to ease lifting Measurements ensure bottom does not contact the ground Rocket attached to truss via slotted rails Attachment rails double as launch rails ensuring launch stability Truss will lock in vertical position once erect

AGSE Truss In launch position, blast shield protects sensitive components Igniter insertion system extends into motor Rocket is then ready for inspection Once inspected, rocket is ready for launch

AGSE Igniter Insertion System

Igniter Insertion System Toothed insertion system DC electric motor drives the tooth extender into the mast Initiated with a program that is linked to the AGSE controller

Igniter Insertion System Located 6-8 inches below the base of the rocket. Main motor is protected by the blast plate Rise through a whole in the blast plate to access the rocket

Igniter Insertion System Extension of 21 inches Igniter pause at full extension E-match attached to tip of the insertion system is in contact with motor Inspection and arming of the rocket Countdown ensues, followed by blast off

Igniter Inserter System

Master Microcontroller and Full System Operation

Master Microcontroller Single microcontroller drives all AGSE functions Simplifies design Minimizes risk Eliminates communication between multiple microcontrollers Arduino mega or comparable device used

Subsystem Connectivity All autonomous systems connected through microcontroller Only launch controller handled independently Single start, pause, and reset switches

Nominal AGSE Process Start command received Robotic arms commanded to find payload Arm deposits payload in rocket Payload bay hatch closes Launch rail raised Igniter inserted Sequence pauses Launch button depressed Rocket launches

AGSE Flow Chart System inspected prior to launch In some cases it is possible to reset and re-run sequence in an error has occurred

Risks Power Failure Programming Errors Equipment Assembly Errors Component Synchronization Failure Sequence exceeds allotted time (10 minutes) System unresponsive Damage from environment (humidity, rain)

Test Plans Full system test (normal conditions) Off-design rocket mass Off-design payload configuration Partially drained batteries Power failure during AGSE sequence Dropped payload