1. Autonomous Ground Support Equipment – Project WALL-Eagle

2. Overall AGSE Concept

3. Overall AGSE Concept

4. AGSE Payload Hatch

5. Payload Hatch Function
Seals payload bay during flight
Hatch opens and closes autonomously with a microservo
Guides robotic arm into payload bay

6. Payload Access Plate and Positioning
Single access plate revolves on hinge
Hinge operates with microservo
Will allow remote opening and closing
Optical markers to guide robotic arm

7. Payload Access Plate and Positioning
Single access plate revolves on hinge
Hinge operates with microservo
Will allow remote opening and closing
Optical markers to guide robotic arm

8. Payload Hatch Animation

9. AGSE Payload Capture & Transport

10. Robot Arm Capabilities
Needs at least 4 degrees of freedom
Controlled by central master-controller
Detect Payload via IR sensors
Backup: Navigate to predetermined location
Be able to lift 4 oz. payload
Navigate over payload and rocket hatch

11. Fabricated vs. Purchased
Fabrication Advantages:
Customizable for any purpose
Cost-effective
Deep subsystem educational merit
Unique and original
High scientific merit
Purchase Advantages
Commit team-member time elsewhere
High-performance
Reduce risk of subsystem failure
Compensate for lack of team- member experience
Customizable parts
High scientific merit

12. Decision: Purchase Robot Arm
Chose to purchase commercially available arm.
High performance, legacy, and affordability warrant purchase of arm.
Arm like Lynxmotion AL5B or AL5D possible choices.

13. CrustCrawler AX-12A Smart Robotic Arm
~22” maximum reach
5-6 degrees of freedom
Most value and capabilities for the price
Completely customizable
Price - $830

14. CrustCrawler AX-12A Key Features
1mbs serial communication protocol
Dual actuator design in the shoulder and wrist axis for maximum lifting capability (2 to 3 pound (.907kg to 1.36kg)
Fully ROS,MATLAB,LABVIEW Compatible!
Rugged, all aluminum construction for maximum kinematic accuracy (1mm - 3mm)
Hard Anodized finish for maximum scratch and corrosion resistance
Compatible with ANY micro-controller/computer control system / programming Language (Open Source!)
The only robotic arms that feature feedback for position, voltage, current and temperature
Smooth, sealed, self lubricating ball bearing turntable
Fully adjustable initial base angle
(3) integrated mounting tabs for easy mounting to a fixed or mobile base
(5) Gripper options to choose from
Full control over position (300 degrees), speed, and torque in 1024 increments
Automatic shutdown based on voltage or temperature with status indicator LED
Sensor engineered gripper design accepts, pressure sensors, IR detectors, CCD cameras and more!

15. Robot Arm Gripper Requirements
Able to hold cylindrical payload
Support 4 oz. weight
Reach ground/reach payload bay
Able to rotate at the wrist
Able to sense that payload has been obtained
The Big Grip Kit from the CrustCrawler AX-12A series robotic arms meet criteria plus more

16. IR Sensors
Affixed to front of grabber, scans dark ground (grass/dirt) for light surface (payload).
Arm engages payload once detected.
If payload dropped, search and capture of the payload may be repeated until mission success

17. Contingency: Preprogrammed Location
Use preprogrammed location of payload in case IR sensors plan doesn’t work out
Can choose location of payload, so static coordinates suffice
Easier, but will cause launch failure if payload dropped

18. AGSE Launch Rail and Truss

19. AGSE Truss Constructed out of durable carbon fiber
Designed to support the full weight of the rocket
Connected to two electric gear motors
Rotates from horizontal to 85°
Returns to horizontal after rocket launch

20. AGSE Truss Bottom is counterweighted to ease lifting
Measurements ensure bottom does not contact the ground
Rocket attached to truss via slotted rails
Attachment rails double as launch rails ensuring launch stability
Truss will lock in vertical position once erect

21. AGSE Truss
In launch position, blast shield protects sensitive components
Igniter insertion system extends into motor
Rocket is then ready for inspection
Once inspected, rocket is ready for launch

22. AGSE Igniter Insertion System

23. Igniter Insertion System
Toothed insertion system
DC electric motor drives the tooth extender into the mast
Initiated with a program that is linked to the AGSE controller

24. Igniter Insertion System
Located 6-8 inches below the base of the rocket.
Main motor is protected by the blast plate
Rise through a whole in the blast plate to access the rocket

25. Igniter Insertion System
Extension of 21 inches
Igniter pause at full extension
E-match attached to tip of the insertion system is in contact with motor
Inspection and arming of the rocket
Countdown ensues, followed by blast off

26. Igniter Inserter System

27. Master Microcontroller and Full System Operation

28. Master Microcontroller
Single microcontroller drives all AGSE functions
Simplifies design
Minimizes risk
Eliminates communication between multiple microcontrollers
Arduino mega or comparable device used

29. Subsystem Connectivity
All autonomous systems connected through microcontroller
Only launch controller handled independently
Single start, pause, and reset switches

30. Nominal AGSE Process Start command received
Robotic arms commanded to find payload
Arm deposits payload in rocket
Payload bay hatch closes
Launch rail raised
Igniter inserted
Sequence pauses
Launch button depressed
Rocket launches

31. AGSE Flow Chart System inspected prior to launch
In some cases it is possible to reset and re-run sequence in an error has occurred

32. Risks Power Failure Programming Errors Equipment Assembly Errors
Component Synchronization Failure
Sequence exceeds allotted time (10 minutes)
System unresponsive
Damage from environment (humidity, rain)

33. Test Plans Full system test (normal conditions) Off-design rocket mass
Off-design payload configuration
Partially drained batteries
Power failure during AGSE sequence
Dropped payload