lunar secon team 2 senior design 2 mid-semester presentation february 28th, 2008
DESCRIPTION
Presentation Outline Competition Basics Design Constraints Design Changes Summary and TimelineTRANSCRIPT
LUNAR
SECON Team 2Senior Design 2Mid-Semester PresentationFebruary 28th, 2008
SECON Team 2
Andrew Tigert
KhanhBui
Ryan Sparks
Chris Dailey
Dr. Bryan Jones
Locomotion X X
Power X X
Block Pickup and Storage X X X
Gyroscope X
Integration X X
Faculty Advisor X
Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
Competition Basics Block point values Maximum of 4 blocks can be scored 6-minute matches Three preliminary rounds
Single robot Cumulative score determines seeding in
playoffs Head-to-Head Playoffs
Top 8 teams from preliminary rounds Two robots on the same playing field
Block Placement
Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
Modularity
Components are easily interchangeable Pick-up mechanism Batteries Servos
Removable pick-up mechanism
Reliability Must not require any major repairs in
between rounds Material and construction choices
Base Gripper assembly
Convert potential major problems into easily repairable minor problems
Technical ConstraintsName DescriptionDimensions The robot must be completely self contained and no
larger than 10” x 10” x 11”.Block Pick-up
The robot must be able to pick up blocks at varying angles on three different terrains without sliding the blocks more than 4 inches
Block Storage
The robot must be able to store at least 1 block onboard.
Speed The top speed of the robot must be at least 6 inches per second.
Power The battery must be able to supply power for a minimum of 7 minutes
Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
Design I Progress Maneuvers on 2 of the 3 terrains Performs 90 degree turns Collects and stores 2 blocks Returns to home base Outside size constraint
LCD
Used for debugging Connected to Team
2’s PIC Team 1 sends
information for display
PIC migration Pin changes
Servos Peripheral interrupts
Serial communication
PIC kit is now used Migration headaches New configuration file
PCB Initial PCB design
& population PICs functional
tests Required
changes for next revision
Block Storage
Storage Constraint: 1 Storage Capability: 4
Three blocks are held in the tray
Gripper holds the last block
Recessed area holds side blocks in place
Rotation
New Servo Allows for Precise Turning
Gears Easier to take apart,
better for testing Do not break or skip
teeth Very reliable
Rotation
Ball Bearing Joint allows for smooth rotation
Gripper
New Lifting Servo Mounts
Smooth Rod for Lifting
Teflon Allows for Smoother Travel Along the Horizontal Rod
Encoders Vex encoders vs. U.S. Digital
Size Shaft type
Used for driving straight Secondary block detection
Gyroscope
Measures turn angles
Collision correction
Test Plan Completed
PICs Pick-up Mechanism Track Servos Storage Tray
Ongoing PCB Encoders Gyroscope
Design II Summary Encoders provide feedback on motors Gyro used for collision
detection/correction Storage system holds 4 blocks Robot meets the size constraints Tracks replace wheels and casters PCB design
TimelineJan Feb Mar Apr
Track Construction
Body Redesign
PCB Design
Translate to PIC18F6527
Change Approach
Populate PCB
Integration
Testing
Competition
Questions?
Resources [1] IEEE. (2007, Sept. 4). “2008
SoutheastCon Hardware Competition Rules,” IEEE Region 3 Huntsville Section Web Site. [Online]. Available: http://ewh.ieee.org/reg/3/secon/08/documents/Hardware_Competition_Rules_v16.pdf