1. R I T Team Members: Dan Lester → Team Lead Chris Feuerstein → Lead Engineer/Electrical Lead Mike Schwec → Electrical Support Jacob Hillmon → Electrical Support Huan Yu-Chen → Mechanical Lead Delnessaw Hirpa → Mechanical Support David Ng → Microcontroller Lead Oliver Yuen → Microcontroller Support P08201 – 10kg Robotic Platform This project is supported by a gift from the Gleason Foundation to the mechanical engineering department at RIT. P08201 – 10kg Robotic Platform This project is supported by a gift from the Gleason Foundation to the mechanical engineering department at RIT..

2. R I T Project Description The mission of this family of projects, within the Vehicle Systems Technology Track, is to develop a land-based, scalable, modular open architecture, open source, fully instrumented remote/controlled vehicular platform for use in a variety of education, research & development, and outreach applications within and beyond the RIT KGCOE. This student team will re-design two modular, robotic platforms capable of carrying a payload anywhere in the robotics lab, room #9-2230 in Building #09 on the RIT campus. One drive platform configuration shall be three wheeled, with at least one motor module, and a payload capacity of at least 2.5kg. The second drive platform shall have at least four wheels, with at least two motor modules, and a payload capacity of 10kg. The second platform will be required to accomplish two tests as stated in the PRP.

3. R I T Customer Needs The platform must re-use as many parts from previous designs as possible. The platform must perform safely The platform must be able to carry a payload of 10kg The platform must fit within the $8000 Budget split between all 3 project groups. The platform must be battery powered The platform must be robust The platform must utilize off the Shelf Components The platform must perform all testing requirements successfully The platform must be impressive for high school students in the US FIRST robotics competition. The platform must use interchangeable modules that can be swapped within 120 seconds. The platform must be able to be scaled up or down in size and payload capacity. The platform must be open source to allow for other senior design projects on it. The platform must be able to be controlled remotely

4. R I T New Robotic Platform Concept

5. R I T New Chassis Structure Avoid Acrylic Tubing, using 80/20 Al for stronger structure. Aim for free scale modular and easy assembly.

6. R I T New Motor Module

7. R I T Risk Analysis of Mechanical Components 80/20 Material –Factor of Safety 80/20 Fastening System Motor Module Ring Gear –Proper machining of components

8. R I T Electrical Systems Overview

9. R I T In House H-Bridge Logic Circuit

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11. R I T In House CMOS H-Bridge

12. R I T

13. R I T In House CMOS H-Bridge Layout

14. R I T In-House Battery Monitor

15. R I T Power System Architecture

16. R I T Electrical Interconnect Diagram

17. R I T Risk Analysis of Electrical Components Control System –Motor controller and motor module –Platform software –Loss of communication Power System Failure –Inadequate battery life (1hr spec) –Low battery power Cabling Issues –Cabling interference –Motor noise

18. R I T Laptop (Wireless) –Pros: Wireless; Functionality; Durability; –Cons: Complexity; Security; Cost

19. R I T Customer Needs The platform must re-use as many parts from previous designs as possible. Re-use of motor module materials, such as drive motors, batteries, and ring gears The platform must perform safely Emergency stop system The platform must be able to carry a payload of 10kg Rigid chassis designed with strong 80/20 material The platform must fit within the $8000 Budget split between all 3 project groups. Re-use of P07201 materials and The platform must be battery powered Powered by 2 12V batteries The platform must be robust Strong materials and versatile electronics The platform must utilize off the Shelf Components Microcontroller/communication is provided by outside vendors The platform must perform all testing requirements successfully Capable of manual control and autonomous navigation The platform must be impressive for high school students in the US FIRST robotics competition. Clean design The platform must use interchangeable modules that can be swapped within 120 seconds. The platform must be able to be scaled up or down in size and payload capacity. The platform must be open source to allow for other senior design projects on it. H-Bridge, Battery Monitor, and The platform must be able to be controlled remotely

20. R I T Senior Design I – Next Steps End of Fall Quarter - order parts for Bill of Materials Winter Quarter Week 7 - Motor Module machined, assembled, and tested by week 7 of winter quarter Spring Quarter Week 1 – Initial implementation of design concepts obtained from SD1

21. R I T Feedback/Q&A?