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.

2. R I T Project Description The goal of this project is to construct a land-based robotic platform for the Vehicle Systems Technology Track. This 10 kg platform is just one of a family of scalable platforms ranging from 1kg to 100kg. This project focuses on improving previous projects from the 7200 family, which fall short of expected outcomes. The re-designed platform is to be modular, open architecture, open source, scalable, and fully instrumented robotic/remote controlled, for use in a variety of education, R & D, and outreach applications within and beyond the RIT KGCOE. This student team will re-design a modular, robotic platform capable of carrying a payload anywhere in the robotics lab on the RIT campus. The drive platform configuration shall have at least four wheels, with at least two motor modules, and a payload capacity of 10kg. The platform will be required to accomplish two sets of 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. Re-use of motor module materials, such as drive motors, batteries, and ring gears The platform must be able to carry a payload of 10kg Rigid chassis, designed with strong 80/20 material The cost to design and build must fit within the $8000 budget shared between 3 project groups. Re-use of P07201 materials and budget remaining is $2500 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 show the ability to interchange motor modules (i.e. change from four powered motors to three) Motor module turntables are able to efficiently slide in and out of 80/20 material The platform must be able to be scaled up or down in size and payload capacity. Similar in design to RP100 The platform must be open source to allow for other senior design projects on it. H-Bridge, Battery Monitor, and, PCB Board are in house and fully documented.

4. R I T Robotic Platform Concept Fully assembled platform

5. R I T Overall weight,dimension and cost of the chassis –Weight =8.0lbs –Width = 19.0” –Height = 8.0” –Length = 24.0” –Cost = $83.00

6. R I T Motor Module: Original Design Concept Driving Motor Steering Motor Encoder Cover Encoder Mount Ring Gear Turntable Yoke Aluminum Tubes Wheel Direct Drive Shaft Power Transmission shaft

7. R I T Motor Module: Updated Design Modified mounting system Modified fastening approach

8. R I T Strengths + 8020 Aluminum Frame +Flexibility in assembly +Able to carry required load (+more) +Fast replacement and removal of components +Protected enclosure for control electronics

9. R I T Weakness / Possible Improvements -Gear slip -Mechanical tolerances -Lack of support -Clearance between ground and yoke -Lack of mounting capability for encoders -Method for manufacturing steering assembly

10. R I T Electrical Systems Overview

11. R I T

12. R I T In-House Battery Monitor

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

14. R I T In House CMOS H-Bridge

15. R I T Power Distribution Board

16. R I T Electrical Interconnect Diagram

17. R I T Strengths + All components are open source + All components are modular + All components are robust + Expandable / Plug and Play + Visual Indication of all operations

18. R I T Weakness / Possible Improvements -New emergency stop relay -Choice of batteries -Size reduction

19. R I T Overview of computer system Sequence Diagram Keywords: *GUI: Graphical User Interface *UART: Universal Asynchronous Receiver Transmitter *PWM: Pulse Width Modulation

20. R I T GUI Demo UML

21. R I T Wireless Modules RF Transceivers (250kbps) Commercial band: 2.4GHz Compliant with IEEE 802.15.4 Range: 20 – 30 meters indoor Power: 2xAA No line of sight required UART pins on expansion header TI MSP430

22. R I T State Diagram

23. R I T UART/RS232 Conversion ST232 IC DB9 Female Connector (RS232) 4 capacitors included with 0.1uF Standard 3.3V – 5V TTL Baud rate: 300 – 115200 Ready to assemble Low cost

24. R I T Microcontroller FreeScale CSM12D module w/ Project Board –Microcontroller Initializations –Software implementation Directional & stop/emergency stop commands Ability to align each motor module separately –System response after loss of communication

25. R I T Computer System Layout PWM ControlFunctions (Output)Pin Number PWM 0Steer Module # 19 PWM 1Steer Module #211 PWM 2Steer Module #130 PWM 3Steer Module #232 PWM 4Drive Module #134 PWM 5Drive Module #236 6 Digital OutputsFunctionsPin Number EnableEmergency Stop37 F/R #1Left Drive Motor33 L/R #1Left Steer Motor35 F/R #2Right Drive Motor29 L/R #2Right Steer Motor31 5

26. R I T Strengths and Weaknesses/Possible Improvements Strengths: + Wireless & Range + LOS is not needed + Low power consumption + Future development + Open source + Easy to program Weaknesses/Possible Improvements: - Limited experience - Navigation mode not fully functional - Limited PWM channels - No input feedback

27. R I T P08201: Budget Budget funded by gift from Dresser-Rand to be divided up into 3 teams: $8000 Team Budget: $4200 Project Total Cost: $2489

28. R I T Senior Design II - Milestones March 21 st – Initial Integration of Major Sub function Components May 2 nd – Prototyping Demo for Electrical and Computer Subsystems May 16 th – Function and Performance Review and Final Project Review May 19 th –Tech Paper and Design Poster May 20 th – Website and Design Verification Documented

29. R I T Questions?