1. All logos in this presentation is courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech University Publications.

2.  Organizational Breakdown  Project Background  Design Objectives  Tentative Designs  Project Timeline  Recommendations

3. Jameson L. Tai (Team Leader) Research Justin Nunn Design William Rae Analysis William Rae Fabrication Jameson L. Tai Testing Jameson L. Tai Finances Justin Nunn

4.  The PantherBot, also known as the PowerBot made by MobileRobotics, Inc., is a multifunctional robot  autonomously mapping terrain  equipped with sonar and laser range finder  robotic arm fitted with a parallel gripper and webcam  has a 802.11b WiFi antenna for wireless communications (Image Source: RASSL

5. (Image Source: RASSL)

6.  This team will create an autonomous tool changer such that the PantherBot will be able to perform the following functions inside the Olin Engineering Complex:  Open doors via twisting door handles  Open front door via pressing the handicap accessible button  Press appropriate buttons to recall and operate an elevator (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

7.  To research on appropriate tools to perform the following functions in the Olin Engineering Complex without harming the PantherBot:  Open doors via twisting door handles  Open front door via pressing the handicap accessible button  Press appropriate buttons to recall and operate an elevator

8.  The tool changer and tools must not block the normal operations of the robot nor create safety hazards from usage of the tool changer.  This means this tool changer must not block or damage the following: ▪ sonar sensors, ▪ laser range finder sensor, ▪ cameras, ▪ emergency stop buttons, ▪ any vents or access panels.  The tool changer also must not add any additional width to the robot since it is already approaching the width of a standard doorway.

9.  Topics to be researched:  Current door opening robots  Tool changing devices  Materials  Research is focused on examining other machines that can open doors and on various different devices that are used for changing out tool ends  Once sufficient research has been done in these areas, research on materials that need to be used will be conducted as designs for our tools are made

10.  To meet the goals of interacting with doors and buttons, as well as storing and exchanging the tools, we will need to optimize our design for reliability, size and weight.  To do this we will use FEA with physical prototypes.  Weight restrictions are due to the forces the tool will put on the arm.  FEA testing will primarily be used to find areas where material needs to be added or can be removed to lighten the tools.

11.  Arm Forces ▪ To prevent damage to the arm we need to calculate the forces exerted on the arm in all configurations. ▪ The arm is capable of withstanding higher loading if the joints are locked. ▪ Swinging the arm with a heavy tool on the end puts the motors at risk if motion is not started and stopped smoothly. ▪ Tool paths must be optimized to minimize forces on the arm

12.  We will fabricate most parts through Building 538 (Machine Shop)  If needed, we have set aside a budget for any necessary rapid prototyping before we proceed.  We will obtain reasonable off-the-counter parts if it is more cost effective to purchase the part than to produce in-house.

13.  We have set aside a budget for a testing rig, which will provide a viable test platform  Opening doors  Pushing door panel button  Pushing elevator buttons  The testing platform will provide feedback to the team regarding the repeatability of the tools, ease of operation, and storage functions.  Also, it will help determine if there are any problems with the tools before the PantherBot performs the predefined functions inside Olin Engineering Complex.

14.  Button Pusher  Shall protect PantherBot’s body as well as its robotic arm  Shall protect elevator buttons and panels while tool is used  All motion will be generated by the parallel grippers

16.  Door Opener  Shall open doors from both sides  Shall accommodate door handles in the left and right orientations  Shall allow the PantherBot to pass through safely before door returns to closed position

17.  Tool Rack  The tool rack will be designed to accommodate the tools that are produced  Rough ideas: ▪ Tentative positions of tools ▪ Door opener will be contained in the front left (near the vent) of the PantherBot ▪ Button pusher will be contained in the front right section since it is a larger tool. ▪ Mounting ▪ Tools will be mounted to existing structural rails.

18. Fall 2008  Complete research in door opening techniques  Pushing door (September 2008)  Pulling door (September 2008)  Present tool design (October 2008)  Present tool changer rack design (October 2008)  Preliminary Design Review  Presentation (22 October 2008)  Report (22 October 2008)  Analysis on tools and tool changer (November 2008)  Final Presentation (03 December 2008)  Final Report (03 December 2008)

19. Spring 2009  Fabrication (February 2009)  Testing (March 2009)  Showcase (April 2009)

20.  Test Stand Hardware$ 150  Shop Materials$ 400  Adapters to existing PantherBot arm$ 250  Bushings/Bearings/Shafting$ 100  Surface finishing$ 50  Rapid Prototyping$ 250  Miscellaneous Hardware$ 50  Total Budget$1,250

21.  We have a preliminary design of our button pusher.  We have conducted research on door opening mechanisms that would integrate with existing hardware.  We are working on several designs of our tool storage system. These designs will be revised as the tools are finalized.