1. September 23, 2003Jeff Wilson1 The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee

2. September 16, 2003Mark Jarrett, Jeremy Paradee, and Jeff Wilson 2 Problem Statement: To engineer an automated system that plots text on various sizes of poster board Input is ASCII file (.txt) 100 bytes max Must complete in 8 weeks

3. September 23, 2003Mark Jarrett, Jeremy Paradee, and Jeff Wilson 3 Solution: Computer sends signal to Go-Go Gantry Go-Go Gantry drives in X direction Gantry with pen moves in Y direction Combination of X-Y motion draws text

4. September 23, 2003Lee Strobridge, Jeremy Paradee, Mark Jarrett, and Jeff Wilson 4 System Overview: Controller Motor Solenoid Marker 12 V

5. Mechanical:

6. September 24, 2003Strobridge, Bodis, Jarrett, Wilson6 Mechanical Overview: Motor Solenoid Motor Gantry

7. September 23, 2003Dave Carlson7 Gantry

8. September 23, 2003Dave Carlson, Allison Bodis, Mark Jarrett 8 Marker Fixture

9. Tests:

10. September 23, 2003Mark Jarrett and Jeff Wilson10 Solenoid: 12 V Solenoid: F = 19 Newtons

11. September 23, 2003Mark Jarrett and Jeff Wilson11 Ball Vs. Wheel Casters:

12. September 24, 2003Strobridge, Wilson, Jarrett, Bodis12 Cup n’ Ball Casters:

13. September 24, 2003Wilson, Bodis, Strobridge, Paradee, Jarrett, Carlson 13 Decision:

14. September 23, 2003Allison Bodis14 Friction: Trial (Tile Floor) Friction Force (uF) Normal Force (Fn) 11.537 21.137 31.537 41.537 51.337 Average1.437 (uF) = u (Fn) u =.0376 * All measurements made in Newtons

15. September 23, 2003Lee Strobridge15 RC Car (Single Motor Drive):

16. September 23, 2003Lee Strobridge16 RC Car (Dual Motor Drive):

17. Software:

18. September 23, 2003Paradee, Strobridge, Carlson, Jarrett, Wilson, Bodis 18 Computer System Overview: C Code Assembly Code ASCII File.txt Computer Micro- Controller HC-11 Motor Controller Solenoid Motor #1 Motor #2 Motor #3

19. September 23, 2003Jeff Wilson and Mark Jarrett19 Pseudo Code Flow Chart: Start End Home Letter? Letter Subroutine Yes No

20. September 23, 2003Jeff Wilson20 Pseudo Code ‘Y’: Solenoid #1 Set = Down Motor #2 Set = Forward Time Delay Motor #2 Set = Stop Motor #1 Set = Forward Time Delay Motor #1 Set = Stop Motor #2 Set = Reverse Time Delay Motor #2 Set = Stop Motor #2 Set = Forward Time Delay Time Delay Motor #2 Set = Stop Motor #1 Set = Reverse Time Delay Motor #1 Set = Stop Solenoid #1 Set = Up -Home Pen Subroutine- -Test for more letters to print- -Move to next letter location if needed-

21. Electrical:

22. September 23, 2003Mark Jarrett, Jeff Wilson, and Jeremy Paradee 22 Electrical Overview: 12VDC 120V AC Computer HC11 Stepper Motors Motor Controller IRFZ20 MOSFET Solenoid Power Signal

23. September 24, 2003Lee Strobridge, Allison Bodis, Jeff Wilson, Mark Jarrett 23 H-Bridge Motor Driver: 3953 Pinout3953 Block Diagram

24. HC08 Microcontroller:

25. Design Progression:

26. September 24, 2003Lee Strobridge26 Design Sketch:

27. September 24, 2003Jeff Wilson27 Design Revised:

28. September 24, 2003Carlson, Jarrett, Wilson, Bodis, Strobrige, Paradee 28 Rover II Platform: Pre-Assembled, available Large front prototyping area HC 11, Stepper motors, wheels, controllers, serial communication and interrupt drivers More pins give options for sensors

29. September 23, 2003Mark Jarrett29 Schedule:

30. Thank You, Any Questions? Go-Go Gantry