1. University of Wyoming: Robo-Ops Team Joshua Bailey Thomas Bilodeau Kyle Cox Carter Schultz – Project Lead 1

2. Competition Overview NASA sponsored Sample retrieval 45 kg & 1m x 1m x.5m JSC rockyard (University of Akron, 2010) 2

3. Determining Critical Functionalities Review of previous competitors – Competition footage – Technical papers – Competition results Analysis of competition regulations Risk centric analysis of proposed systems 3

4. Design Overview Dual semi-identical rovers “Shrimp” suspension Modified commercially manufactured arm 3+1 DOF arm Simple and robust chassis Wheel hub motors 4

5. FEA Model Overview 5 Non-linear geometry Truss elements Model combination Spring modeled

6. FEA Simulations 6

7. Chassis Simple yet functional design Weight and size constraints Ease of access to electrical components 7

8. Resulting Manipulator Design Modified commercially available 4 DOF arm Changed to 3+1 DOF Optimized link lengths 8 Work Envelope Robot

9. Control System Overview 9

10. Software Overview 10

11. FMEA Analysis 11 Item Potential Failure ModePotential Failure Effect(s) Potential Causes of Failure Current Prevention Current Detection Failure Likelihood Severity of Consequences Detection Likelihood Risk Priority Number HubSetscrew loosensInability to DriveDamaged setscrewLocktightVisual108180 Steering ServoBurnoutInability to SteerOvercurrentElectricNone28348 Beagle BoneMisc.Complete failureMisc.None 49136 WheelFatigueInability to DriveOverloadingNoneVisual38124 Wheel MotorBurnoutInability to RetrieveOvercurrentNone 23424 Steering Servo LinkageSetscrew loosensInability to SteerVibrationNoneVisual54120 Suspension ShaftShearInability to DriveOverloadingNoneVisual28116 Arm ServoBurnoutInability to RetrieveOvercurrentElectricNone28116 Arm StructureMisc.Inability to RetrieveOverloadingNoneVisual28116 Fork Travel StopDisconnectionReduced Drive CapabilityVibrationVelcroVisual44116 Motor ControllerBurnoutInability to DriveOvercurrentElectricVisual28116 Servo ControllerBurnoutInability to DriveOvercurrentElectricVisual28116 BatteryInternal ShortComplete failureDamagedNone 1101 ChassisMisc.Complete failureOverloadingNoneVisual1818

12. Critical Components Wheel Hubs Beagle Bone Steering Servos 12

13. Verification 13 Attribute NameTarget ValueAchieved ValuePercent Difference Mass17.0 Kg12.3 Kg-26.7 % Top Speed5 MPH5.2 MPH+0.4 % Arm Payload150 g317 g+111.3 % Budget$3,000$2,332.85-22.2 % Completed the scope of the project

14. What Next? Transition to next years team Inclusion of additional sensors Redundant communications control Redesign of existing issues: – Wheel Hubs – Front Forks Construction of second rover 14

15. References (University of Akron) "Honors Student, Courtney Gras, Receives Multiple Awards/Honors."Http://www.uakron.edu/. 1 Jan. 2010. Web. (Universita Degli Studi Di Brescia ) "SHRIMP: High Mobility Wheeled Rover." Demining Mobile Robots. Http://www.unibs.it/. Web. (David Ortiz) Rover Todo Terreno Robot Shrimp. Https://www.youtube.com/, 2008. Film. Swiss Federal Institute of Technology 2002. Innovative design for wheeled locomotion in rough terrain. Amsterdam: Elsevier Publication; [cited 2014 Dec 4]. Available from: http://www.researchgate.net/profile/Michel_Lauria/publication/222574070_Inno vative_design_for_wheeled_locomotion_in_rough_terrain/links/02bfe51278e03cf e44000000 http://www.researchgate.net/profile/Michel_Lauria/publication/222574070_Inno vative_design_for_wheeled_locomotion_in_rough_terrain/links/02bfe51278e03cf e44000000 15

16. Questions? 16