ShopBot “Your Mother doesn’t work here, but ShopBot does!” Max Koessick

ShopBot Project Brief Autonomous vehicle that will detect and collect ferrous tools/hardware from a garage floor in a random pattern Autonomous vehicle that will detect and collect ferrous tools/hardware from a garage floor in a random pattern Based on 1/16 th scale R/C tank chassis Based on 1/16 th scale R/C tank chassis Behaviors implemented include: metal and weight detection, obstacle avoidance, positive object grasp Behaviors implemented include: metal and weight detection, obstacle avoidance, positive object grasp

ShopBot Platform/Drive Systems Dual Clutch Servo Controlled Directional System Dual Clutch Servo Controlled Directional System Servo Speed Controlled (3/1) Servo Speed Controlled (3/1) Metal Tracks/Gearbox Metal Tracks/Gearbox 7.2V 3000mAh Battery (Drive System Only) 7.2V 3000mAh Battery (Drive System Only) Dual ClutchesClutch Servo

ShopBot Platform/Drive Systems Arm will rotate in a circular path from ground to collection ~30° to ground Arm will rotate in a circular path from ground to collection ~30° to ground Electromagnet will grasp item (uses two ‘D’ cells) Electromagnet will grasp item (uses two ‘D’ cells) Electromagnet Collection Container

ShopBot Computer/Hardware Atmel STK500 Development Board with ATMega128 Atmel STK500 Development Board with ATMega128 Discrete power supply for processor Discrete power supply for processor Electromagnet controlled by power-FET with logic level gate drive capability Electromagnet controlled by power-FET with logic level gate drive capability

ShopBot Sensors Metal Detection Metal Detection Hall Effect/Proximity Sensor targets ferrous objects Hall Effect/Proximity Sensor targets ferrous objects Sinking output (negative logic) Sinking output (negative logic) Located inside “vee” aluminum corral with bumpswitch Located inside “vee” aluminum corral with bumpswitch After detection, will back up to place arm over object After detection, will back up to place arm over object ShopBot Forward

ShopBot Sensors Weight Detection Weight Detection Target weight < 1 pound Target weight < 1 pound Sensor consists of calibrated spring mechanism that deflects with one pound Sensor consists of calibrated spring mechanism that deflects with one pound ElectromagnetPositive V Negative V Weight closes the contact

ShopBot Sensors Obstacle (Wall/Large Object) Avoidance Obstacle (Wall/Large Object) Avoidance IR Ranger mounted in array on top IR Ranger mounted in array on top Angled to detect walls of garage, but not low profile tools Angled to detect walls of garage, but not low profile tools Arm bumpswitch Arm bumpswitch Ensures positive engagement of target throughout arm rotation Ensures positive engagement of target throughout arm rotation Also will reveal release of tool into basket. Also will reveal release of tool into basket.

ShopBot Conclusions Feasibility of electromagnet still questionable Feasibility of electromagnet still questionable Completed simple experiment with nail and wire wrap wire (picked up wire wrap tool and IC extractor with 1V) Completed simple experiment with nail and wire wrap wire (picked up wire wrap tool and IC extractor with 1V)