Download - Myles Durkin Steve Kropp Ryan Ehid Kevin McHugh Brian Lepus Villanova University Capstone Design
Myles DurkinSteve KroppRyan Ehid
Kevin McHughBrian Lepus
Villanova University Capstone Design
Motivation
• 20 minutes of Burn Time– Roofs will collapse
• Every 32 minutes– Someone is injured in a Fire
• Every 162 minutes– Someone is killed in a Fire
• In 2007– 118 Fire Fighters were killed
• EVERY SECOND COUNTS!!!
Purpose
• Quickly search through a building• Identify the source of the fire• Extinguish Fire • Transmit the information
– Video, Proximity Sensors, Flame Detector
Problem Statement
• Only 20 minutes to extinguish flames before roof collapses.
• Even equipped with thermal sensors, finding flames in a house is difficult and dangerous for humans.
• Robot could safely search for flames and people quickly, effectively and safely.
• Design and build a concept robot that is both effective and affordable.
Requirements
• The robot should weigh no more than 150 pounds
• The robot should also be able to fit into a compartment of fire truck with dimensions
• The robot must be able to climb stairs• The robot should efficiently and quickly
navigate the structure and locate both fires and victims
Chassis
Ryan Ehid
Chassis and Drive Train: Tasks Completed
– Computed power requirement for robot • Show Power Requirement KM
– Determined robot should be built using a treaded vehicle design
• Recall: robot must climb stairs
– Refined power requirement to include treaded vehicle
– Determined motor specifications required for power requirement
• Show determined motor specs
Chassis and Drive Train: Tasks Completed
– Sized motors and gear boxes• Motors would be purchased with gearbox to give ratio
of @@ KM
– Ordered motors and gear boxes– Researched materials to use for chassis to
maintain resistance to heat• Any Plastics are un-useable• Aluminum, Steel, Iron appropriate
– Steel or aluminum would be used due to commercial availability and ease of welding
Chassis Design: Basic Framework
Design, size motors
purchase motors, gear boxes
Based on Dimensions of gears, motors determine
chassis dimensions
Select Adequate thermal protection
Select adequate waterproofing
FINISHED CHASIS
Chassis: Assignments
• Chassis: Project Lead—Ryan Ehid– Design, size motors – Purchase motors, gear boxes – Given dimensions of motors, gear boxes, treads and drive
wheels and given size develop preliminary chassis dimensions– Select adequate thermal protection
• Recall design constraint, robot must function to 500°F
– Select adequate water protection• Recall design constraint, robot must be waterproof
– Chassis and drive train integration– Refine design based on drive train specifications
Chassis Assignments Cont.
• Purchase Motors– Purchased NPC Motors
from RobotMarketplace.com
– Motors provide adequate torque to overcome stairs
– Motors provide enough speed to search house in required 10 min
• Motors pix: kevin
Chassis Assignments Cont.
• Develop preliminary chassis design– Completed 1/26
Chassis Assignments Cont.
• Thermal Protection– Robot will need thermal protection– Chassis must be built of material which will not
melt• Aluminum
– ~660°C
• Steel– ~1400°C
• Lexan– ~440°C
Chassis Assignments Cont.
• Still To Be Completed:– Thermal insulation for electronics and motors
selected– Waterproofing of chassis selected– Building of chassis– Integration of chassis with drive train
Drivetrain
Kevin McHugh
Power Requirement
Motor Selection
• The previous power calculation yielded a power requirement of 1685.75 W to achieve the desired speed up the stairs.
• This is the equivalent of 2.26 hp.
• NPC T74 was chosen because each of the two motors being used output 1.13 horsepower just before stall (under heavy loading).
Final Gearing
• The NPC T74 is a geared motor.– Speed reduction and cost effectiveness.
• The final drive mechanism will be a chain drive system– This will be used to fine tune the desired output
speed as well as to relocate the power from the motor to the drive axels.
Final Gearing
• The final, full throttle speed of the robot depends on several components. – Motor speed
• 192 rpm • (battery power limited)
– Tread drive wheel Diameter
• 8 in
– Final Gear Ratio• ≈2.188 (see right)
)(57.4
)/(124.402
*)12/8(**192
***
192
mphrs
sftrs
rs
drrpms
speeds
rpm
ratior
diameterd
Driveshaft• The driveshaft has to be designed to handle the torque loads applied
to it.• This is a simple matter of choosing the proper diameter and material
for the shaft.• The diameter will be calculated using AISI 4000 Series Steel
ind
ind
ddlbsinpsi
JdT
dJ
15.1
5.1
)32//()2/)(*1480()70000)(75(.
/)2/(
32/
3
4
4
http://www.roymech.co.uk/Useful_Tables/Matter/shear_tensile.htm http://www.matweb.com/search/DataSheet.aspx?MatGUID=210fcd12132049d0a3e0cabe7d091eef&ckck=1
Electrical Components
Myles Durkin
Electrical Prototyping• Prototype – No sensors
Electrical Prototyping
• Motor Controller • Full H-Bridge
Electrical Prototyping
• Tested Proximity Sensors• Uses Voltage Comparator Circuit• Hatamatsu UVTron Flame Detector
Electrical Prototyping
• PIC Microcontroller programmed to control motors based on sensor input
Electrical Analysis
• Using two 12V batteries in series (7Ah)
NPC – T74 NPC – T64
Torque vs Angular Velocity NPC T74
y = -6.5238x + 174.6
0
50
100
150
200
0 10 20 30
Angular Velocity (rad/sec)
To
rqu
e (N
m)
Torque vs Angular Velocity NPC T64
y = -5.148x + 131.17
0
20
40
60
80
100
0 10 20 30
Angular Velocity (rad/sec)
To
rqu
e (N
m)
Electrical Analysis
• RPM vs Time• Steady state 192 rpm at
90 sec.
Electrical Analysis
• At 192 RPM, needs 53 Amps • 7.8 min battery time powering one motor• 3.9 min battery time powering both motors
RPM v Current
y = -0.8191x + 210.93
0
50
100
150
200
250
0 100 200 300
RPM
Cu
rren
t (A
)
Turret System
Brian Lepus
Turret System - Camera
• 2.4 GHz Wireless Color Weatherproof Indoor Outdoor Camera and Receiver
• Automatic IR night vision – 20 ft. range• 150 ft. total range
Turret System - Design
• Positioned on top of robot• Connected to rotating 9-volt source• Controlled by continuous servo (360°)
Servo
Fire Suppression
Brian Lepus
Fire Suppression
• Fire extinguisher canister• Dry chemical• Used only to suppress or control small fires that become an
obstacle• Engaged with either a motor and gear train or actuator that closes
the handle
Tread Design
Steve Kropp
Tread Design
• Design Requirements– Tread design must allow the robot to climb stairs
and other obstacles.– Tread design must provide for maximum surface
area when in operation– Tread design have the ability to become compact
in order to fit robot in fire truck compartment.– Tread design must provide for maneuverability.
Tread Design
• Tasks Completed– Built Tamiya Rescue Crawler Robot as prototype
• Depicted three tread design adapted for Firebot.
Tread Design
• Tasks Completed– Developed three tread design
• Front and back tread can rotate up and down in order to satisfy requirements of maximum surface area as well as compact ability and maneuverability.
• Story board created to illustrate abilities.
Obstacle Climbing AbilitiesRobot approaches step with front tread up, giving the robot leverage.
Obstacle Climbing AbilitiesThe front tread then levels itself out and gains traction. This helps pull the rest of the robot up onto the stair.
Obstacle Climbing AbilitiesManeuverability and Compact Design- Since the landing is too small for the fully extended robot to turn, the front and back tread tilt up. This allows the robot to turn successfully.
Obstacle Climbing AbilityWith all three treads extended, the robot maintains maximum surface area in contact with the stairs.
Tread Design
• Material to be used– Steel
• Kinetic Coefficient of Friction: .6• Melting Temperature: 2500°F
– Rubber• Kinetic Coefficient of Friction: .85• Melting temperature: Varies
Tread Design
Tread Design
• Future Milestones– Order tread materials
• Rubber belts, flat chain, sprockets, servos, etc.
– Install treads– Test treads
• Must pass requirements.
Schedule
Kevin McHugh
Senior Design Gantt Chart
Firefighting RobotVillanova University
Team Members: Miles Durkin, Kevin McHugh, Ryan Ehid, Brian Lepus, Steve Kropp
Today's Date: 2/4/2009 (vertical red line)
[42] Start Date: 8/25/2008 (Mon) 0
WBS Tasks Task Lead Start End Dur
atio
n (D
ays)
% C
ompl
ete
Wor
king
Day
s
Day
s C
ompl
ete
Day
s R
emai
ning
1 Data Gathering 8/25/08 10/24/08 61 100% 45 61 0
1.1 Talk to Firemen 8/25/08 9/07/08 14 100% 10 14 0
1.2 Research Requirements 9/01/08 9/20/08 20 100% 15 20 0
1.3 Brainstorming 9/10/08 10/14/08 35 100% 25 35 0
1.4 Preliminary Calculations 10/15/08 10/25/08 11 100% 8 11 0
2 Design 9/25/08 12/29/08 96 81% 68 77 19
2.1 Powertrain Calculations 9/25/08 10/30/08 36 100% 26 36 0
2.2 Circuit/Power Analysis 11/01/08 12/30/08 60 90% 42 54 6
2.3 Heat rejection Calculations 12/01/08 12/11/08 11 50% 9 5 6
2.4 Order Parts 12/01/08 12/30/08 30 50% 22 15 15
3 Build/Test 12/11/08 4/22/09 133 35% 95 46 87
3.1 Assemble Frame/Drivetrain 1/12/09 1/25/09 14 10% 10 1 13Chassis Ryan Ehid 1/12/09 2/09/09 29 33% 21 9 20 Dimension motors/battery, Design 1/14/09 1/23/09 10 100% 8 10 0 Select adequate Fireproofing 1/23/09 2/09/09 18 0% 12 0 18 Select adequate Waterproofing 1/23/09 2/09/09 18 0% 12 0 18Tread Steve Kropp 1/12/09 1/31/09 20 10% 15 2 18 Order parts 1/12/09 1/18/09 7 0% 5 0 7 Assemble Tread 1/18/09 1/24/09 7 0% 5 0 7 Preliminary testing 1/24/09 1/30/09 7 0% 5 0 7Fire Supression Steve Kropp 2/01/09 3/02/09 30 0% 21 0 30 Fire extinguisher type 2/01/09 2/07/09 7 0% 5 0 7 Test actuator Motor 2/08/09 2/28/09 21 0% 15 0 21Drivetrain Kevin McHugh 1/12/09 2/23/09 44 50% 31 22 22 Test purchased motors/target lbs 1/12/09 1/30/09 19 100% 15 19 0 Implement Tread 2/01/09 2/19/09 19 0% 14 0 19 Refine sprocket ratios for speed 2/05/09 2/23/09 19 75% 13 14 5Camera and Turret Design Brian Lepus 1/12/09 2/10/09 30 80% 22 24 6 Spec motor, materials 1/12/09 1/31/09 20 100% 15 20 0 Build/test 1/31/09 2/09/09 10 60% 6 6 4Electrical Components 1/12/09 2/28/09 48 37% 35 17 31 Put electronics on an IC 1/12/09 1/31/09 20 50% 15 10 10 Work to control robot wirelessly 1/12/09 2/28/09 48 75% 35 36 12Combine Tread, Dirvetrain and Chassis 3/08/09 3/28/09 21 0% 15 0 21 Test 3/08/09 3/28/09 21 0% 15 0 21 Test of Robot Mobility 3/15/09 3/19/09 5 0% 4 0 5 Heat/Fire Tests 3/20/09 3/24/09 5 0% 3 0 5 Redesign/Retest 3/25/09 4/23/09 30 0% 22 0 30
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Budget
Ryan Ehid
Budget
• Major Sources of Funding– Engineering Alumni Society
• Donation of $1000
– IBM Corporation • Donation of $1000
– ECE Day Best Project Award• Around $500
– Provided by College of Engineering
• Standard funding for Capstone $300
Budget
• Major Team Expenditures– Prototype Robot
• Roughly $80
– Sensors and Electrical Components
• Roughly $50
– Poster and PR material• Roughly $100
– Motors + Gear Box• Roughly $650
BudgetCost Estimation Comparison
Description Initial Cost Estimate Current Cost Estimate
Prototype Sensors, Materials, Integrated Circuits, Camera (Wheels/ Batteries)
$300 $300
Motors/Controllers
Electrical Motors, Microcontrollers, Gears
$300 $800
Wheels/Belts Wheels or Tank Threads $200 $400
Base/Frame/ Parts and materials to make the base and frame
$200 $500
Miscellaneous Materials
Extinguishing agents and other materials and parts required to build the device
$300 $300
Deduction Villanova College of Engineering will provide funds for each group
-($300) -($300)
TOTAL COST $1,000 $2,000
Budget23%
23%15%
15%
23%
Initial Cost Estimate
PrototypeMotors/ControllersWheels/BeltsBase/Frame/Miscellaneous Materials
13%
35%17%
22%
13%
Current Cost Estimate
PrototypeMotors/ControllersWheels/BeltsBase/Frame/Miscellaneous Materials
BudgetExcerpt from: FireFighting Robot Ledger(AS OF 1/29)
Transaction Type ITEM NAME TOTAL(INC TAX) TOTAL DEBIT TOTAL CREDIT
Debit CoE Donation $ 300.00 $ 300.00 $ -
Debit EAS Donation $ 1,000.00 $ 1,000.00 $ -
Credit Poster Board $ 95.39 $ - $ 95.39
Credit Home Depot(Lock+Toolbox) $ 16.51 $ - $ 16.51
Credit Tanya $ 77.40 $ - $ 77.40
Credit Paralax $ 36.97 $ - $ 36.97
Credit Amazon $ 99.87 $ - $ 99.87
Debit IBM $ 1,000.00 $ 1,000.00 $ -
Credit Robot MarketPlace $ 684.40 $ - $ 684.40
Name Debits Total Credits Total Account Total
TOTAL DEBIT $ 2,300.00
TOTAL CREDIT $ 1,010.54
ACCOUNT TOTAL $ 1,289.46
Thank You!Any Questions?
Please Visit Firebot.pbwiki.com