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
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LUNAR
SECON Team 2Senior Design 2Mid-Semester PresentationFebruary 28th, 2008
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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
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Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
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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
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Block Placement
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Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
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Modularity
Components are easily interchangeable Pick-up mechanism Batteries Servos
Removable pick-up mechanism
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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
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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
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Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
![Page 11: LUNAR SECON Team 2 Senior Design 2 Mid-Semester Presentation February 28th, 2008](https://reader036.vdocuments.mx/reader036/viewer/2022062401/5a4d1b917f8b9ab0599c115c/html5/thumbnails/11.jpg)
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
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LCD
Used for debugging Connected to Team
2’s PIC Team 1 sends
information for display
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PIC migration Pin changes
Servos Peripheral interrupts
Serial communication
PIC kit is now used Migration headaches New configuration file
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PCB Initial PCB design
& population PICs functional
tests Required
changes for next revision
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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
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Rotation
New Servo Allows for Precise Turning
Gears Easier to take apart,
better for testing Do not break or skip
teeth Very reliable
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Rotation
Ball Bearing Joint allows for smooth rotation
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Gripper
New Lifting Servo Mounts
Smooth Rod for Lifting
Teflon Allows for Smoother Travel Along the Horizontal Rod
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Encoders Vex encoders vs. U.S. Digital
Size Shaft type
Used for driving straight Secondary block detection
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Gyroscope
Measures turn angles
Collision correction
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Test Plan Completed
PICs Pick-up Mechanism Track Servos Storage Tray
Ongoing PCB Encoders Gyroscope
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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
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TimelineJan Feb Mar Apr
Track Construction
Body Redesign
PCB Design
Translate to PIC18F6527
Change Approach
Populate PCB
Integration
Testing
Competition
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Questions?
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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