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Formal Design Review Team 1
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PROJECT INTRODUCTION Pick and place robot
Pick up, move, and release spheres into specified drop holes Steel spheres - ∅ 12.7 mm Drop holes - ∅ 14.3 mm Rotary movement on two serially stacked axes Stepper motors & Arduino Uno R3 Lifts/lowers spheres with permanent magnet grasping device Servo motor
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Team 1 Introduction Avery Callahan Hung Pham Kaitlin McNeill
Mike Wagner Trenton Madden
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MECHANISM INTRODUCTION
x y z BASE (Red)
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MECHANISM INTRODUCTION
ROTARY AXIS 1 (Green) x y z
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MECHANISM INTRODUCTION
ROTARY AXIS 2 (Yellow) x y z
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MECHANISM INTRODUCTION
GRIPPER ASSEMBLY (Blue) x y z
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MECHANISM INTRODUCTION
CONTROL (Purple) x y z
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BASE - Configuration Rotary Axis Mount Material: ABS Plastic
Density of ABS: g/mm^3 Total Volume of Base: 155,892 mm^3 Total Mass of Base: 165 grams Sphere Plate Sphere Plate Rotary Axis Mount x y z z x y
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BASE - Rotary Axis Mount
Deflection P x y z
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BASE - Rotary Axis Mount
Plastic Failure P x y z
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BASE - Sphere Plate Deflection x y z
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BASE - Sphere Plate Plastic Failure x y z
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ROTARY AXIS 1 ROTARY AXIS 1 (Green) x y z x y z
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ROTARY AXIS 1 Deflection x y z
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ROTARY AXIS 1 Tilt Deflection
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ROTARY AXIS 1 Plastic Failure x y z
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Note: ABS will be used to make Rotary Axis 1.
200 mm 160 mm Belt and Timing Gears Note: ABS will be used to make Rotary Axis 1.
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ROTARY AXIS 1 60T Drive: Stepper Motor & Timing Belt System
Timing Gear Ratio: 1:4 Gear Pitch: 0.08”
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ROTARY AXIS 1 Control Surfaces: 4 Radial Ball Bearings MS 1
Thrust Bearing Roller Bearing MS 1 Control Surfaces: 4 Radial Ball Bearings & 1 Thrust Ball Bearing Initial Orientation Determined by Micro Switch 1 Radial Ball Bearing Thrust Ball Bearing
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Force of Arm 2 + Gripper Assembly
ROTARY AXIS 1 Force of Arm 2 + Gripper Assembly Calculated Torque Requirement: 0.025N-m Estimated Motor Torque: N-m (NEMA-23) ½ stall torque Motor Resolution for NEMA-23: 1.8 degrees/step Calculated Resolution Requirement: degrees/step Resolution has increased because of the gear ratio. This gives us an uncertainty of approx Radians.
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ROTARY AXIS 1 Stepper stall torque (5V): 0.3883 N-m 0.1942 N-m
No-load speed (5V): 150 RPM Calculated Torque Requirement: 0.048N-m NEMA-23
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ROTARY AXIS 2 ROTARY AXIS 2 (Yellow) x y z
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ROTARY AXIS 2 Deflection x y z
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ROTARY AXIS 2 Plastic Failure x y z
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ROTARY AXIS 2 Tilt Deflection
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Note: ABS will be used to make Rotary Axis 2.
135 mm mm Belt and Timing Gears Note: ABS will be used to make Rotary Axis 2.
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ROTARY AXIS 2 Drive: Stepper Motor & Timing Pulley System Motor 2
Timing Pulley Ratio: 1:4 Pitch of Gear Mechanism: 0.08” Motor 2 60 T 15 T
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ROTARY AXIS 2 Control Surfaces: 2 Radial Ball Bearings & 1 Thrust Ball Bearing Initial Orientation Determined by Micro Switch 2 Roller Bearing Radial Ball Bearing Thrust Ball Bearing Thrust Bearing MS 2
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ROTARY AXIS 2 Force of Gripper Calculated Torque Requirement: 0.009 Nm
Estimated Motor Torque: 0.07 Nm (NEMA-14) ½ stall torque Motor Resolution for NEMA-14: 1.8 degrees/step Calculated Resolution Requirement: 0.45 degrees/step Resolution has increased because of the gear ratio. This gives us an uncertainty of approx Radians.
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Stepper stall torque (5V): 0.1412 N-m
ROTARY AXIS 2 Stepper stall torque (5V): N-m N-m No-load speed (5V): 150 RPM NEMA-14 Calculated Torque Requirement: 0.02 Nm
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GRIPPER ASSEMBLY GRIPPER ASSEMBLY (Blue) x y z
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Note: ABS will be used to make the Gripper Assembly
Motor Mount Pinion Note: ABS will be used to make the Gripper Assembly 20 kg Servo Rack Housing
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Force required to separate the sphere from magnet:
GRIPPER ASSEMBLY Force required to separate the sphere from magnet: Fmotor Frack x y z Fmagnet Fsphere
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GRIPPER ASSEMBLY R x y z
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GRIPPER ASSEMBLY
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GRIPPER ASSEMBLY Total Deflection
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GRIPPER ASSEMBLY Plastic Failure
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GRIPPER ASSEMBLY Drive: Servo Motor + Rack & Pinion System
Total Mass: g Calculated Torque Requirement: 0.27 Nm SF of 2.5 Estimated Motor Torque: 0.93 Nm (20kg Servo Motor) Motor Resolution: 10 Bit or 1024 PPR
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4 mm x 4 mm Neodymium Magnet
GRIPPER ASSEMBLY 4 mm x 4 mm Neodymium Magnet Pull Force of Magnet = 10.7 N 20 kg Servo Motor
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Servo stall torque (5V): 1.86 N-m
GRIPPER ASSEMBLY Servo stall torque (5V): 1.86 N-m 0.93 N-m No-load speed (5V): 62.5 RPM 20 kg Servo Motor Calculated Torque Requirement: 0.27 Nm
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CONTROL CONTROL (Purple) x y z
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CONTROL Arduino Uno R3 Computer Power IDE Arduino Motor Shield v2.3
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons
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CONTROL Arduino Uno R3 Computer Power IDE Arduino Motor Shield v2.3
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Arduino Board
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CONTROL Computer Arduino Uno R3 Power IDE Arduino Motor Shield v2.3
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Computer: USB
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CONTROL Power Arduino Uno R3 Computer IDE Arduino Motor Shield v2.3
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Operates at 5V 1.2 Amps per bridge
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CONTROL IDE Arduino Uno R3 Computer Power Arduino Motor Shield v2.3
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons
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CONTROL IDE Arduino Uno R3 Computer Power Arduino Motor Shield v2.3
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons
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CONTROL IDE #Include <libraries> <AFMotor.h>
<Servo.h> Int variables pinButton1 = Input pin of button 1; pinButton2 = Input pin of button 2; SwitchPin1 = Input pin of switch 1; SwitchPin2 = Input pin of switch 2; AF_Stepper motor1(steps/rev, Port); AF_Stepper motor2(steps/rev, Port); Servo servo1; Val1 = 11; Val2 = 11; loop = 0; Arduino Uno R3 Computer Power IDE Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons
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CONTROL IDE Void setup() { Arduino Uno R3 Servo1.attach(pin); Computer
Power IDE Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Void setup() { Servo1.attach(pin); motor1.setspeed(speed); motor2.setspeed(speed); } Void loop() { Int statebutton1 == digitalRead(pinButton1); Int statebutton2 == digitalRead(pinButton2); If (statebutton1 == 1) { Val1 = 0; Val2 = 0; }
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CONTROL IDE If (Val1 <10) { Arduino Uno R3
Computer Power IDE Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons If (Val1 <10) { motor1.step(# step,direction,SINGLE); delay(50); Val1 = analogRead(switchPin1); } If (Val2 <10) { motor2.step(# step,direction,SINGLE); Val2 = analogRead(switchPin2); }
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CONTROL IDE If (statebutton2 == 1) { Arduino Uno R3 loop = 1; }
Computer Power IDE Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons If (statebutton2 == 1) { loop = 1; } If (loop = 1) { motor1.step(step,direction,SINGLE); delay(1000); motor2.step(step,direction,SINGLE); delay(1000); Servo1.write(180);delay(1000); Servo1.write(90);delay(1000); Servo1.write(0);delay(1000); REPEAT FOR REMAINING SPHERES
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CONTROL Arduino Motor Shield v2.3 Arduino Uno R3 Computer Power IDE
2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons
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CONTROL 2 Stepper Motors Uni-polar Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons 6 wires 2 windings Must find common and ground
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CONTROL 2 Stepper Motors Bi-polar Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons 4 wires 2 windings No ground
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CONTROL 1 Arduino Servo Motor Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Yellow: Signal/control Red:Power Black: Ground
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CONTROL 2 Micro Switches Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Yellow(NO): Signal Red(C): Power Black: Ground Pull down resistor
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CONTROL 2 Push Buttons Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3 2 Stepper Motors Uni-polar Bi-polar 1 Arduino Servo Motor 2 Micro Switches 2 Push Buttons Red: Power Black: Ground Pull-down resistor Yellow/Green: Signal
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SYSTEM
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SYSTEM Z y X Step resolution is increased from 1.8 degrees/step on the motor shaft to .45 degrees/step via [1:4] gear ratio This allows for high accuracy for sphere acquisition and release to target locations
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SYSTEM
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SYSTEM Z y X The change in (x,y) with one step of each motor with a resolution of .45 degrees/step ΔX = 2.7 [mm] ΔY = 0.5 [mm]
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SYSTEM Z y X Homing switches reside directly on the Y-axis and serve as the robots home position This defines the (0,0) position of the coordinate plane
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RAPID PROTOTYPING Upload solid model into Catalyst Pack model
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RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost
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RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost
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RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost
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RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost
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RAPID PROTOTYPING
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MECHANISM MANUFACTURABILITY
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BUDGET - Design DESIGN AND ANALYSIS Subsystem Teammate Time (Hours)
Hourly Rate Total Cost Entire System Christina Avery Callahan 69 $10.00 $690.00 Trenton Madden 107 $1,070.00 Hung Pham 66 $660.00 Kaitlin McNeill 56 $560.00 Michael Wagner 46 $460.00
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Cost of Parts and Supplies
BUDGET - Base Cost of Parts and Supplies
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BUDGET - Base Cost of Labor
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Cost of Parts and Supplies
BUDGET - Rotary Axis 1 Cost of Parts and Supplies
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BUDGET - Rotary Axis 1 Cost of Labor
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Cost of Parts and Supplies
BUDGET - Rotary Axis 2 Cost of Parts and Supplies
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BUDGET - Rotary Axis 2 Cost of Labor
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BUDGET - Gripper Assembly
Cost of Parts and Supplies
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BUDGET - Gripper Assembly
Cost of Labor
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Cost of Parts and Supplies
BUDGET - Control Cost of Parts and Supplies
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BUDGET - Control Cost of Labor
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BUDGET - Total Total Parts Cost $457.77 Total Labor Costs $4,560.00
Projected Robot Cost $5,017.77
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SUMMARY AND FUTURE PLAN
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QUESTIONS?
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