p07205 concept review rp100: 100kg payload robotic platform

P07205 Concept ReviewP07205 Concept Review

RP100: 100Kg Payload RP100: 100Kg Payload Robotic PlatformRobotic Platform

IntroductionIntroduction

Goal: To consolidate technologies from Goal: To consolidate technologies from teams in the P07200 Project Family into teams in the P07200 Project Family into a finalized product that can be used in a finalized product that can be used in the following configurations:the following configurations:

7200 Project Family7200 Project Family

PC104(linux)

PC

DAQ

Ang out Dg IN

OUTPUTS (sirens,

speakers, lights)

Power supply(include battery)

Motor controller

1 Motor module

Sensors(temp,

impact, heat, speed)

Sen

d da

ta fr

om D

AQ

to P

C

Send control com

mands

RS

23

2

An

alo

g o

utp

ut

out

12V-35V unregulated 1Amax

5V re

gula

ted

1A

ma

x

Send commands to control I/O

Control signal to motor controllerLanguage unknown

ISA bus ISA bus

12V unregulated 1Amax

CA

N b

us

16 8byte instructions

Fee

dbac

k si

gnal

(sp

eed,

ro

tatio

n)

Mo

nito

rs m

oto

r te

mp

era

ture

24Vdc unregulated 30Amax

Sends data collected to PC104 -> PC

Shielde

d wire

s

Analog

sign

al fro

m se

nsor

s

P07205 TOP LEVEL ELECTRICAL SUBSYSTEMS VIEW + ENGINEERING RESPONSIBILITIES

REV. 1.0 12/21/06Revised by: Tian Zheng

James Aclub: Design power electronics to

generate efficient and regulated/unregulated power to motor control

module, DAQ, dyno, onboard sensors + outputs + PC104

James Harris:Program/modify DAQ to input/output

correct data + control signals, program pc104 to interact with pc, DAQ and motor controller, program pc to control PC104

remotely

Tian Zheng + Aman Verma:Design communication, converters,

I/O, sensors, outputs btw elect. Subsystem.

Update subsystem with other teams, Test all subsystem’s communications

RP10 & RP100 Core Sub-functionsRP10 & RP100 Core Sub-functions

Load-Platform InterfaceLoad-Platform Interface Dynamometer InterfaceDynamometer Interface CommunicationCommunication ShellShell Autonomy & NavigationAutonomy & Navigation Electronics PackElectronics Pack SoftwareSoftware

Concept Generation & Concept Generation & SelectionSelection

Functional Breakdown: DiagramFunctional Breakdown: Diagram

General Shape (RP100ARP100B)

Payload attachment

Shell

Platform (top)

Wiring

Frame

electricalAccessories

Sensors

OC protection

User interface

(hardware)

Bumper system

Internal layout

Motor mount

CPU(PC104)

Motor controller

DAQ

Power storage +

distribution

Motor module (electrical)

User actions +

coordinates

Energy

Environment

Related projectmodules

Payload

Motor module

Data

Controlled motion (with payload)

ELECTRICAL SUBSYSTEMS

MECHANICAL SUBSYSTEMS

REV. 1.0

P07205 ROBOTIC PLATFORM SUBSYSTEMS BLOCK DIAGRAM

Future mdules

Concept Selection SchemeConcept Selection Scheme

Brainstorm as a groupBrainstorm as a group Divided into mechanical and Divided into mechanical and

electrical sub-teamselectrical sub-teams Select reasonable choices Select reasonable choices Screening Screening ScoringScoring Preliminary analysis Preliminary analysis

Functional Breakdown: Group Functional Breakdown: Group BrainstormingBrainstorming

Physical

Platform Outside Inside

Platform Payload Attachments Bumpers Shell Frame Wiring

platform material

how to secure payloads outside layer of chassis,

body

Wood t-nuts360 degree

wrapping plastic pillars/columnscommon connectors (1 kind

of con's)

Aluminum clamps 8 edge bumpers wood triangular support color coding - wires

Steel vices rubber stoppers aluminum noneshrink wrap (cover wires for

organization)

Plastic seatbelts spring loaded colorsusing internal components as

support corrugated tubing (metal)

Cheesebungee holes (for

cords) shock absorbers RIT sticker circle frame corrugated tubing (plastic)

side loops none diamond plate cross shape from Zip ties

dovetail groovemetal bumpers

(elastic) Soju girl, with soju pizza slice shape multiple wire cable

perforated metals water bottles acrylic shielded wires to avoid

noise

ratchet belt tires sheet rock quick-connect

side flaps (see Tian for

drawing) air filled cardboard ferrite beads

towing hook composite CAT5E

ball hitch

toggle clamps

Functional Breakdown: Group Functional Breakdown: Group BrainstormingBrainstorming

Information Management

Ability Electrical Electrical

Accessories Sensors OverCurrent Protection PC104

optional hardware

winch Proximity Sensors fuses remote control

weight scale Light resettable fuses tethered laptop

jack weight thermal fuses wireless laptop

payload lift temperature (TC) hot plugs IR sensors

power screw driver strain gauge circuit breakers RF

LCD display sonar

forklift accelerometers

intercom system infra red

speaker(s) A-D (for each sensor)

horn(s) encoder

LED array display

bull horn

Individual Overall ConceptsIndividual Overall Concepts

Specialty BreakdownSpecialty Breakdown

Each ME/EE sub-Each ME/EE sub-team discarded team discarded unreasonable unreasonable choices before choices before starting the starting the screening and screening and scoring methods.scoring methods.

Platform

platform material

Wood

Aluminum

Steel

Plastic

Cheese (unreasonable)

Screening ProcessScreening Process

Step 1-Research: Pros & ConsStep 1-Research: Pros & Cons

Step 2-Define Selection Criteria: Include customer needs Step 2-Define Selection Criteria: Include customer needs

Step 3-Datum Selection: Estimate an immediate decision Step 3-Datum Selection: Estimate an immediate decision

Step 4-Complete Screening Matrix Step 4-Complete Screening Matrix

Step 5-Summarize ResultsStep 5-Summarize Results

[Ulrich, Ch 7][Ulrich, Ch 7]

Scoring ProcessScoring Process

Step 1-Need IdentificationStep 1-Need IdentificationStep 2-Weight CalculationStep 2-Weight CalculationStep 3-Reference SelectionStep 3-Reference SelectionStep 4-Complete Scoring Matrix Step 4-Complete Scoring Matrix Step 5-ResultsStep 5-ResultsStep 6-Selection Summary:Step 6-Selection Summary:

• Recommended Concept & JustificationRecommended Concept & Justification• Improvements/Weaknesses discovered during the process Improvements/Weaknesses discovered during the process • Work to be done in the future:Work to be done in the future:

Selection/Installation detailsSelection/Installation details PerformancePerformance Cost Cost

[Ulrich, Ch 7][Ulrich, Ch 7]

General Selection CriteriaGeneral Selection Criteria General selection criteriaGeneral selection criteria

The following criterion is to be considered in each concept:The following criterion is to be considered in each concept: CostCost

It relates back to the amount of work required in the production of the It relates back to the amount of work required in the production of the concept. As it was specified by the customer (see Needs Assessment, 12) concept. As it was specified by the customer (see Needs Assessment, 12) the robot must be easy to manufacture.the robot must be easy to manufacture.

Ease of RepairingEase of RepairingIt deals with the amount of work, time and cost needed to repair the It deals with the amount of work, time and cost needed to repair the feature if broken. It relates to the need of keeping down cost and feature if broken. It relates to the need of keeping down cost and maximizing the flexibility of the robot (see Needs Assessment, 5 and 12).maximizing the flexibility of the robot (see Needs Assessment, 5 and 12).

AvailabilityAvailabilityIt is considered because it is a way to estimate how easily obtained the It is considered because it is a way to estimate how easily obtained the feature will be, which relates to the customer’s requirement of having feature will be, which relates to the customer’s requirement of having more than one vendor per component (see Needs Assessment, 12).more than one vendor per component (see Needs Assessment, 12).

WeightWeightIt serves a duel purpose because it will affect human safety and It serves a duel purpose because it will affect human safety and performance given fixed resources: ex. A lighter robot will be safer for performance given fixed resources: ex. A lighter robot will be safer for people to transport. It will also consume less energy (see Needs people to transport. It will also consume less energy (see Needs Assessment, 1 and 6).Assessment, 1 and 6).

Wow factorWow factorIt is related to the appeal of the concept as a combination of functionality It is related to the appeal of the concept as a combination of functionality and appearance (see Needs Assessment, 3 and 8)and appearance (see Needs Assessment, 3 and 8)

RobustnessRobustnessIt is a measure of durability in terms of its ability to withstand abuse (see It is a measure of durability in terms of its ability to withstand abuse (see Needs Assessment, 6).Needs Assessment, 6).

Shell ConceptsShell Concepts

OverviewOverview

• The shell is defined as an external casing The shell is defined as an external casing of the robot excluding the platform. The of the robot excluding the platform. The shell’s material will therefore define its shell’s material will therefore define its ability to protect the internal components ability to protect the internal components and add to the overall appearance.and add to the overall appearance.

Needs AddressedNeeds Addressed

SAFETY (1)SAFETY (1) Cost (5)Cost (5) Easy to manufacture (11)Easy to manufacture (11) Robust (6)Robust (6) Wow Factor (3), (8)Wow Factor (3), (8)

IssuesIssues

Must be designed to provide safety Must be designed to provide safety to the robot.to the robot.

Should not reduce accessibility of Should not reduce accessibility of components.components.

CONCEPTSCONCEPTS

AluminumAluminum• A readily available material which can be A readily available material which can be

obtained in various sizes that would obtained in various sizes that would accommodate our needs. As large as accommodate our needs. As large as 1.22x1.22m (4x4’)1.22x1.22m (4x4’)

SteelSteel• A common and durable building material.A common and durable building material.

AcrylicAcrylic• Can be used in many industrial Can be used in many industrial

applications because of its lightweight applications because of its lightweight and insulation properties.and insulation properties.

Preliminary AnalysisPreliminary Analysis AluminumAluminum

• ProsPros LightweightLightweight Impressive finish (polished)Impressive finish (polished) Easy to machineEasy to machine Can be repairedCan be repaired

• ConsCons ExpensiveExpensive Lower strengthLower strength ConductorConductor

• CostCost 48x24x1/16”: $62.8448x24x1/16”: $62.84

AcrylicAcrylic• ProsPros

Easy to machineEasy to machine LightweightLightweight High WOW factorHigh WOW factor InsulatorInsulator

• ConsCons WeakWeak BrittleBrittle

• CostCost

48x24x1/16”: $57.1848x24x1/16”: $57.18 SteelSteel

• ProsPros Very StrongVery Strong Tight tolerancesTight tolerances InexpensiveInexpensive ReparableReparable Easy to weldEasy to weld

• ConsCons HeavyHeavy Rust proneRust prone

• CostCost 48x24x1/16”: $57.1848x24x1/16”: $57.18

Final ConceptFinal Concept

Steel / AcrylicSteel / Acrylic

The scoring matrices showed that, according to our criteria The scoring matrices showed that, according to our criteria based upon the customers needs, a steel shell would be based upon the customers needs, a steel shell would be the most advantageous material. Steel is the strongest the most advantageous material. Steel is the strongest material that we considered it is also cheaper than material that we considered it is also cheaper than aluminum and plastic. Steel can also be very visually aluminum and plastic. Steel can also be very visually appealing.appealing.

Wiring ConceptsWiring Concepts

OverviewOverview

• Wiring is one of the most critical Wiring is one of the most critical phase of equipment design.phase of equipment design.

• It ensures equipment protection and It ensures equipment protection and safety.safety.

• The complete functionality of the The complete functionality of the platform depends on wiring.platform depends on wiring.


SAFETY (1)SAFETY (1) Regulation (2)Regulation (2) Perform required tasks (3)Perform required tasks (3) Modular (4)Modular (4) Robust (6)Robust (6) Adaptable (7)(11)Adaptable (7)(11) ‘‘Wow’ factor (8)Wow’ factor (8)

IssuesIssues

Both data and power cabling need Both data and power cabling need proper designing, accommodating proper designing, accommodating the required needs of all the the required needs of all the consoles.consoles.

Withstand overload and heating till Withstand overload and heating till some extent.some extent.

Efficient to avoid power and data Efficient to avoid power and data losses.losses.

CONCEPTSCONCEPTS Color Coding and Shielded WiresColor Coding and Shielded Wires

• Shielded wires ensure safety Shielded wires ensure safety against data losses and color coding against data losses and color coding ensures easy understanding and ensures easy understanding and general safety. This type of method general safety. This type of method and wires help in understanding and wires help in understanding wiring configurations easily, sets wiring configurations easily, sets standards by following color coding standards by following color coding as well as provide EMI immunity as well as provide EMI immunity against all external interferences.against all external interferences.

Corrugated Plastic TubingCorrugated Plastic Tubing• It is a method of coating the wires It is a method of coating the wires

with a hard flexible plastic coating. with a hard flexible plastic coating. It provides durability and It provides durability and robustness to the complete wiring robustness to the complete wiring structure along with excellent structure along with excellent flexibility.flexibility.

Preliminary AnalysisPreliminary Analysis Color Coded and Shielded WiresColor Coded and Shielded Wires

• NEC color standardsNEC color standards Black – NegativeBlack – Negative Red – PositiveRed – Positive Green - GroundGreen - Ground

• ProsPros Setup with general standardsSetup with general standards Decipher wiring configurationsDecipher wiring configurations SafetySafety Inherent increase in marking areaInherent increase in marking area EMI immunity from external EMI immunity from external

sources and crosstalk from sources and crosstalk from neighboring wiresneighboring wires

• ConsCons Color degradationColor degradation Expensive than unshielded wiresExpensive than unshielded wires

• CostCost Approximately $4.49-$5 for a 6-ft Approximately $4.49-$5 for a 6-ft

2 port RS-232 Serial Data with DB-2 port RS-232 Serial Data with DB-9 male connectors9 male connectors

Corrugated Plastic TubingCorrugated Plastic Tubing• ProsPros

Low WeightLow Weight Excellent FlexibilityExcellent Flexibility Provides protection from Provides protection from

abrasion, oxidation and abrasion, oxidation and overheatingoverheating

Neat organization of wiresNeat organization of wires• ConsCons

Hard to remove once usedHard to remove once used• CostCost

100 ft Poly Flex Tubing - $ 100 ft Poly Flex Tubing - $ 17.5817.58


COLOR CODED SHIELDED WIRESCOLOR CODED SHIELDED WIRES

After thorough research with other teams and via internet, After thorough research with other teams and via internet, it is concluded that shielded color coded wiring design it is concluded that shielded color coded wiring design system will be adopted. This method and wiring will system will be adopted. This method and wiring will allow easiness in understanding wiring design allow easiness in understanding wiring design configuration as well as ensure standard safety configuration as well as ensure standard safety precautions.precautions.

Corrugated tubing on the other hand might be considered Corrugated tubing on the other hand might be considered during the future final stages of the project to add more during the future final stages of the project to add more robustness and organization to the wires because in the robustness and organization to the wires because in the present stage, due to continuous trouble shooting and present stage, due to continuous trouble shooting and change in wiring designs, this method will make the change in wiring designs, this method will make the process tedious.process tedious.

Wiring Design EstimateWiring Design Estimate

Over-Current ProtectionOver-Current Protection

OverviewOverview

Protection circuitry is required to Protection circuitry is required to ensure that electrical components ensure that electrical components are protected during malfunctionare protected during malfunction

Battery cell protection, as well as Battery cell protection, as well as component protection primarily component protection primarily encompass over-current protection.encompass over-current protection.

ConcernsConcerns

Large peak current (67.8A)Large peak current (67.8A) Battery details currently unknownBattery details currently unknown Exact electronic characteristics Exact electronic characteristics

(threshold) values unknown for (threshold) values unknown for modulesmodules

Inner environment characteristics of Inner environment characteristics of RP unknownRP unknown

Concept #1Concept #1

Resettable FuseResettable Fuse• ProsPros

Acts as an over temperature detectorActs as an over temperature detector Manual resetting/replacement not requiredManual resetting/replacement not required Does not require operation awarenessDoes not require operation awareness Easy integrationEasy integration

• ConsCons Low “trip” currents in high temperatureLow “trip” currents in high temperature Requires extensive environment researchRequires extensive environment research

Resettable FuseResettable Fuse


Hot Plug ControllerHot Plug Controller• ProsPros

Customizable “trip” currentCustomizable “trip” current Manual resetting/replacement not requiredManual resetting/replacement not required Does not require operation awarenessDoes not require operation awareness Kill switch feature availableKill switch feature available

• ConsCons Complex implementationComplex implementation

Hot Plug ControllerHot Plug Controller

Preliminary AnalysisPreliminary Analysis

Improved ConceptImproved Concept

Initial concept only consisted of a Initial concept only consisted of a standard fusestandard fuse

Did not take into account start-up Did not take into account start-up characteristics characteristics

User Interface User Interface (hardware) (hardware)

OverviewOverview

Translate user actions into electrical Translate user actions into electrical control signal which controls the control signal which controls the robot movementrobot movement

Be able to input and store Be able to input and store coordinates and translate that into coordinates and translate that into control signals that can control signals that can autonomously displace the robot to autonomously displace the robot to the desire coordinatesthe desire coordinates

ConcernsConcerns(selection criteria)(selection criteria)

Size and weight of user interfaceSize and weight of user interface User friendly User friendly Number of features it can haveNumber of features it can have Maximum signal rangeMaximum signal range Adaptability to add-ons and features Programming language with PC104


Tethered LaptopTethered Laptop

• ProsPros Adaptable to future programs and control modulesAdaptable to future programs and control modules Full featured Full featured Complex functionalityComplex functionality inexpensiveinexpensive

• ConsCons Limited distance Limited distance Not ergonomic Not ergonomic

laptop PC104bus


Wireless RemoteWireless Remote

• ProsPros Light weightLight weight User friendlyUser friendly Long operating rangeLong operating range

• ConsCons Expensive transceiver modulesExpensive transceiver modules Limited functionalityLimited functionality

PC1041way wireless communication

Wireless remote

Receiver module

Safety Sensor Safety Sensor

OverviewOverview

Prevent the robot from running into Prevent the robot from running into pedestrians pedestrians

Prevent damage to the robot by Prevent damage to the robot by sensing obstacles within its path sensing obstacles within its path

ConcernsConcerns(selection criteria)(selection criteria)

Ability to detect both humans and Ability to detect both humans and obstaclesobstacles

Response time Response time Range and coverage areaRange and coverage area Power consumptionPower consumption


Ultrasonic SensorsUltrasonic Sensors

• ProsPros Easy to implementEasy to implement Inexpensive Inexpensive Wide focus angle Wide focus angle

• ConsCons Range is not adjustable Range is not adjustable Low response timeLow response time


IR proximity sensorsIR proximity sensors

• ProsPros Adjustable range Adjustable range Easy to implement Easy to implement Inexpensive Inexpensive

• ConsCons Slow response timeSlow response time Narrow focusNarrow focus

ConclusionConclusion

• More engineering analysis and cost comparison is needed to optimize safety and cost concerns

• Option of using both concepts on robot is will also be considered

ConclusionConclusion

• Software concepts decision will be determined after an optimal solution for the user interface unit is tested and determined

•Using a wireless keyboard as the communication interface could also be feasible.

•Cost less and more feature than remote

•Wireless capability

•Lighter weight than a laptop

Framing ConceptsFraming Concepts

OverviewOverview

• The Frame is an extremely important The Frame is an extremely important part of any vehicular design.part of any vehicular design.

• It is what all other components will It is what all other components will be mounted to.be mounted to.

• The frame must be designed to The frame must be designed to accommodate all mechanical accommodate all mechanical components and electrical components and electrical components.components.


The Platform is Economical (5)The Platform is Economical (5) Perform required tasks (3)Perform required tasks (3) Modular (4)Modular (4) Robust (6)Robust (6) Adaptable (7)(11)Adaptable (7)(11) ‘‘Wow’ factor (8)Wow’ factor (8)

IssuesIssues

Both strength and functionality are Both strength and functionality are required in the designing.required in the designing.

Will support the required payload of Will support the required payload of 100kg. Accommodate all modules 100kg. Accommodate all modules and electronicsand electronics

Efficient design to reduce weight and Efficient design to reduce weight and material (cost).material (cost).

CONCEPTSCONCEPTS

Sheet MetalSheet Metal

• Sheet metal can be Sheet metal can be formed in to shapes that formed in to shapes that can be used to support can be used to support loads ex. file cabinets.loads ex. file cabinets.

TubularTubular• Tubes can form Tubes can form

structures when welded structures when welded together as in car frames.together as in car frames.

CONCEPTSCONCEPTS

ColumnsColumns• Columns are used in Columns are used in

various applications as various applications as load supportsload supports

Perforated MetalPerforated Metal• Many frames for Many frames for

shelves use perforated shelves use perforated metal.metal.

CONCEPTSCONCEPTS

Internal ComponentsInternal Components• The internal components The internal components

could be used to support could be used to support the platformthe platform

Pros and ConsPros and Cons

Sheet MetalSheet Metal• ProsPros

InexpensiveInexpensive High wow factor (when done correctly)High wow factor (when done correctly)

• ConsCons Fabrication timeFabrication time Requires special equipmentRequires special equipment


TubularTubular• ProsPros

InexpensiveInexpensive

• ConsCons Welding RequirementsWelding Requirements


ColumnsColumns• ProsPros

High load ratingHigh load rating Easy to manufactureEasy to manufacture

• ConsCons Alignment IssuesAlignment Issues Needs to be combined with other Needs to be combined with other

structuresstructures


Perforated MetalPerforated Metal• ProsPros

VersatileVersatile ReusableReusable

• ConsCons Requires hardware (attachments)Requires hardware (attachments)


Internal Components as SupportsInternal Components as Supports• ProsPros

InexpensiveInexpensive Requires least amount of hardwareRequires least amount of hardware

• ConsCons May create damaging stresses on May create damaging stresses on

componentscomponents Possibility of heating issuesPossibility of heating issues


Frame Size Estimate Frame Size Estimate • RectangularRectangular

1.14x.784m (45x27in)1.14x.784m (45x27in)• Doorways .864m (34in)Doorways .864m (34in)• Motor Module Flange .223m (9in)Motor Module Flange .223m (9in)• Component Clearance: battery .14x.17x.18m Component Clearance: battery .14x.17x.18m

(5.5x6.5x7in)(5.5x6.5x7in)

• Triangular Triangular .784m (27in) equilateral.784m (27in) equilateral

Preliminary AnalysisPreliminary Analysis Loads and Forces Loads and Forces

4-wheel Mass Force Safety factor Estimated force Assumptions

Payload 100 kg 981 N 1.5 1471.5 N static load

Frame 13.2 kg 129.49 N 1 129.49 N square box 1.4x1.4x0.5m , 1.5 kg/m

Batteries to be included static load

Electronics to be included static load

Total 1600.99 N

3-wheel

Payload 30 kg 294.3 N 1.5 441.45 N static load

Frame 9.9 kg 97.11 N 1 97.11 N triangular prism 1.4x1.4x0.5m, 1.5 kg/m

Batteries to be included static load

Electronics to be included static load

Total 538.57 N

Preliminary AnalysisPreliminary Analysis Cost Estimates Cost Estimates

Description Supplier Dimensions/Description CostPart Number

Perforated Aluminum Tubular Structure McMaster-Carr

1 1/2" square and have 0.328" dia. bolt holes on 1 1/2" centers. $43.64 / 8' 8809T31

Connectors for the above see catalog pg 1520 on McMaster-Carr http://www.mcmaster.com/

Square Structural Tubing (Steel) McMaster-Carr1 1/4" x 1 1/4" with wall thickness .06" $21.49 / 6' 6527K14

Round Structural Tubing (Aluminum) McMaster-Carr OD 1 1/4 with wall thickness .065" $42.33 / 6' 89955K65

Preliminary AnalysisPreliminary Analysis Future Costs and Considerations Future Costs and Considerations

• ShippingShipping• WeldingWelding• HardwareHardware• Lead TimeLead Time

Payload Attachment Payload Attachment ConceptsConcepts

OverviewOverview

• Securing the payload is important for Securing the payload is important for safety and appearance.safety and appearance.

• The payload should not come off the The payload should not come off the platform during platform operation.platform during platform operation.

• The platform should look organized The platform should look organized when the attachment device is not in when the attachment device is not in use.use.


SAFETY (1)SAFETY (1) Perform required tasks (3)Perform required tasks (3) Economical (5)Economical (5) Robust (6)Robust (6) Appealing (8)Appealing (8) Easy to manufacture (11)Easy to manufacture (11)

IssuesIssues

The securing devices must be easily The securing devices must be easily concealed in the platform.concealed in the platform.

They must therefore be light and They must therefore be light and small to not overload the platform.small to not overload the platform.

It is desirable to have the mounting It is desirable to have the mounting holes be multi-functional for multiple holes be multi-functional for multiple mounting devices.mounting devices.

CONCEPTSCONCEPTS

Tee nutsTee nuts• These can be secured by a These can be secured by a

bolt to a slot, meaning bolt to a slot, meaning they can be moved to any they can be moved to any location along the slot.location along the slot.

Toggle clampsToggle clamps• These are a quick and These are a quick and

simple way to tightly simple way to tightly secure the payload; just secure the payload; just turn a lever.turn a lever.

ConceptsConcepts

Tie-Down StrapsTie-Down Straps• These are lightweight and These are lightweight and

easy to use and storeeasy to use and store Bungee holes around Bungee holes around

edgeedge• Bungee cords are easy to Bungee cords are easy to

use, and mounting them use, and mounting them in specific holes would add in specific holes would add strengthstrength

ConceptsConcepts

Platform materials with Platform materials with holesholes• More holes than the previous More holes than the previous

idea, easier because idea, easier because purchased with holespurchased with holes

Platform materials with Platform materials with threaded holesthreaded holes• Advantageous to a simple grid Advantageous to a simple grid

because anchors could be because anchors could be applied to the holesapplied to the holes

CONCEPTSCONCEPTS

Drop-Down GatesDrop-Down Gates• Gates would be easily Gates would be easily

storable, and would storable, and would fence the whole fence the whole platformplatform

Side FlapsSide Flaps• Flaps would easily Flaps would easily

expand the surface expand the surface area of the platform, area of the platform, and be easily storableand be easily storable


Tee nutsTee nuts• ProsPros

VersatileVersatile Looks impressiveLooks impressive

• ConsCons Difficult to Difficult to

manufacturemanufacture Not economicalNot economical

Toggle clampsToggle clamps• ProsPros

Easy to assembleEasy to assemble Looks impressiveLooks impressive

• ConsCons Difficult to Difficult to

manufacturemanufacture ExpensiveExpensive


Tie-Down StrapsTie-Down Straps• ProsPros

No assemblyNo assembly Clean in Clean in

appearanceappearance

• ConsCons Not as strong as Not as strong as

some methodssome methods ExpensiveExpensive

Bungee holes Bungee holes around edgearound edge• ProsPros

Easy to useEasy to use EconomicalEconomical

• ConsCons Not a strong hold Not a strong hold

on payloadon payload Difficult to Difficult to

manufacturemanufacture


Drilled holes Drilled holes (grid)(grid)• ProsPros

No assemblyNo assembly Economical Economical

• ConsCons Not impressive Not impressive

in appearancein appearance Not a strong Not a strong

hold on payloadhold on payload

Drilled and Drilled and tapped holestapped holes• ProsPros

Added visual Added visual appealappeal

More secure hold More secure hold on payloadon payload

• ConsCons Not easy to useNot easy to use Not durableNot durable


Drop-Down Drop-Down GatesGates• ProsPros

Impressive in Impressive in appearance appearance

• ConsCons Not easy to Not easy to

manufacturemanufacture Not lightNot light

Side FlapsSide Flaps• ProsPros

Impressive in Impressive in appearanceappearance

• ConsCons Not robustNot robust Not much Not much

restraining force restraining force on loadon load

Bumper ConceptsBumper Concepts

OverviewOverview

• Bumpers are an import feature as a Bumpers are an import feature as a backup system to proximity sensors.backup system to proximity sensors.

• It ensures building and equipment It ensures building and equipment protection.protection.

IssuesIssues

Must be designed to provide safety Must be designed to provide safety to the robot it’s self as well as its to the robot it’s self as well as its surrounding environment.surrounding environment.

Should be removable to maintain a Should be removable to maintain a modular robot.modular robot.


CONCEPTSCONCEPTS

360-Degree Wrapping360-Degree Wrapping• A bumper would have 360-A bumper would have 360-

degree coverage around the degree coverage around the robot ie. (bumper car)robot ie. (bumper car)

StoppersStoppers• Specifically localized shock-Specifically localized shock-

absorbing material.absorbing material.

NoneNone• RP100 will have no bumper.RP100 will have no bumper.

Preliminary AnalysisPreliminary Analysis 360-Degree Wrapping360-Degree Wrapping

• ProsPros Complete coverageComplete coverage InexpensiveInexpensive Easy to attachEasy to attach

• ConsCons Comprimises accessibilityComprimises accessibility

• CostCost 4.25x.5”: $8.22/2’4.25x.5”: $8.22/2’

StoppersStoppers• ProsPros

Easy to replaceEasy to replace Minimal space requiredMinimal space requiredConsCons Low WOW factorLow WOW factor Partial protectionPartial protection

• CostCost ½” circular stopper: $11.91/pk ½” circular stopper: $11.91/pk

of 64of 64

NoneNone• ProsPros

Very InexpensiveVery Inexpensive Will allow time to develop non-backup sys.Will allow time to develop non-backup sys.

• ConsCons No protectionNo protection

• CostCost N/AN/A


None / 360-DegreeNone / 360-Degree

After the filtering of our concepts through the concept After the filtering of our concepts through the concept selection scoring process we have concluded that no selection scoring process we have concluded that no bumper would be the first choice. However it is believed bumper would be the first choice. However it is believed that the 360-degree bumper should be developed for that the 360-degree bumper should be developed for safety reasons.safety reasons.

Final conceptFinal concept

Create a Drilled and Tapped GridCreate a Drilled and Tapped GridThrough Pugh charts, we deduced that these two options met more of our Through Pugh charts, we deduced that these two options met more of our

criteria with a higher score than any others. The grid without threads was criteria with a higher score than any others. The grid without threads was versatile in anchoring the load, and the threads added to our payload-versatile in anchoring the load, and the threads added to our payload-securing options.securing options.

We looked for bungee cords for this design, and found two options on MSC We looked for bungee cords for this design, and found two options on MSC Direct. One was essentially four cords bundled in the middle (hooks are Direct. One was essentially four cords bundled in the middle (hooks are made of fiberglass and nylon), costing $14.65 per cord, and the other was made of fiberglass and nylon), costing $14.65 per cord, and the other was a rubber bungee cord, 5/16 inches wide with metal S-hooks, costing $4.01 a rubber bungee cord, 5/16 inches wide with metal S-hooks, costing $4.01 per cord.per cord.


Perforated Tubular HybridPerforated Tubular Hybrid

After research and the concept selection After research and the concept selection process, it is concluded that a hybrid process, it is concluded that a hybrid frame design system will be adopted. frame design system will be adopted. This will allow the strengths of each This will allow the strengths of each frame to be combined.frame to be combined.

OverviewOverview


IssuesIssues



CONCEPTSCONCEPTS









• CostCost 48x24x1/16”: $62.8448x24x1/16”: $62.84




• CostCost

48x24x1/16”: $57.1848x24x1/16”: $57.18 SteelSteel



• CostCost 48x24x1/16”: $57.1848x24x1/16”: $57.18

OverviewOverview


IssuesIssues



CONCEPTSCONCEPTS









• CostCost 48x24x1/16”: $62.8448x24x1/16”: $62.84




• CostCost

48x24x1/16”: $57.1848x24x1/16”: $57.18 SteelSteel



• CostCost 48x24x1/16”: $57.1848x24x1/16”: $57.18

Combined ConceptCombined Concept

Attachment With Slot NutsAttachment With Slot Nuts

Showing Platform With T-Nut GroovesShowing Platform With T-Nut Grooves

Attachment With Slot Nuts Cont.Attachment With Slot Nuts Cont.

Close Up T-Nut Inserted In GrooveClose Up T-Nut Inserted In Groove

Useful Accessories For T-Nut Useful Accessories For T-Nut Setup – Toggle ClampsSetup – Toggle Clamps

Using A Toggle Clamp On PlatformUsing A Toggle Clamp On PlatformSource: McMaster.com (clamp model)Source: McMaster.com (clamp model)

Useful Accessories For T-Nut Useful Accessories For T-Nut Setup – Eyebolts And Guide RailsSetup – Eyebolts And Guide Rails

Using An Eyebolt And Guide Rails On Using An Eyebolt And Guide Rails On The Payload PlatformThe Payload Platform

Source: McMaster.com (Eyebolt model)Source: McMaster.com (Eyebolt model)

Overall Platform Preliminary ConceptOverall Platform Preliminary Concept

Project Weaknesses/Future Project Weaknesses/Future ImprovementsImprovements

Solidify Target SpecificationsSolidify Target Specifications Improve platform looks Improve platform looks Establish a Testing schemeEstablish a Testing scheme Take advantage of EDGETake advantage of EDGE Share detailed information with other Share detailed information with other

teamsteams

p07205 concept review rp100: 100kg payload robotic platform

Documents

control module

complete screening matrix

screening processstep

complete scoring matrix

programmodify daq

program pc104

selection criteria

datum selection