all logos in this presentation is courtesy of the florida institute of technology robotics and...

PANTHERBOT TOOL CHANGER

MAE 4193 – Mechanical Design 1Final Design Review

Jameson L. Tai William Rae Justin Nunn

In Partnership with

All logos in this presentation is courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech Office of Creative Services.


Justin NunnJameson L. Tai

In Partnership with

Research and Finance Sub-Team

Picture Courtesy of Overnight Payday Advance

Introduction

Introduction to Sub-team Task Design Objectives for Sub-team Task Design and Analysis for Sub-team

Task Budget Plan for Next Semester Sub-team Plan for Next Semester Ethical Behavior of Sub-team Discussion on Life-long Learning Conclusion

Introduction to Sub-team task

Purpose The purpose of the Research and

Finance Sub-team is to provide information for the Design and Analysis Sub-team and to provide the best financial solutions for developed designs.

Introduction to Sub-task

Goals To apply our knowledge gained in class and

properly apply them to this project To apply technical skills, communication skills,

and the engineering design process into the project

To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm

Keeping an accurate expense report and keeping the teams expenses below the allowed budget

Design and Analysis

Material selection charts Prices used determined by Cost analysis

charts Multiple types of materials researched

for each part▪ Typically common materials were researched

as these are easiest to find Weight factors vary for every part based

on what is needed

Design and Analysis

Rectangular Tube stock Overall Rating

Design Requirements Selection Factors(1*A+5*B+4*C+3*D+2*E)/

15Yield strength (kpsi) Surface Finish Cost/unit length (in)

Machinability (%) Availability

Abs Rel Abs Rel Abs Rel Abs Rel Abs RelAl 5052-H32 34 0.85 80 0.8 N/A N/A 40 0.8 0 0 0.483333333

Al 3003 24 0.6 60 0.6 N/A N/A 45 0.9 0 0 0.42

Al 6061 35 0.875 100 1 0.275 0.9527273 50 1 10 1 0.979060606Stainless Steel (304) 40 1 85 0.85 0.571 0.4588441 27 0.54 10 1 0.713691769

Steel (1018) 32 0.8 80 0.8 0.262 1 35 0.7 9 0.9 0.846666667

Yield Strength Values Courtesy of Shingley's Mechanical Engineering Design

Design and Analysis

Cost Analysis chart Used to determine best price Material

selection charts Minimum of three sources were used for

every material

Design and Analysis

Rectangular Tubing Pricing

Al 6061 Steel Stainless Steel

Vendor Base Price Price/length Base Price Price/length Base Price Price/length

McMaster-Carr(36") 18.65 0.518055556 41.81 1.161388889 31.28 0.86888889

Metals Depot(48") 13.2 0.275 12.56 0.261666667 63.36 1.32

OnlineMetals(36") 11.05 0.306944444 N/A N/A 20.58 0.57166667

Prices Courtesy of McMaster-Carr, Metals Depot, and Onlinemetals

Budget Plan

Prototyping will be done with low cost easily machined materials Materials such as plywood and

cardboard are examples of such materials

Test Stand will be built out of low cost materials that accurately portray school facilities To save money we are trying to work

with facilities to get parts such as a door handle

Budget Plan

Final design will be constructed from materials such as aluminum and steel

To save money we will be attempting to get donations for the material we require, as well as use left over material from previous years

Budget Plan

Our current budget was developed without consideration of possible donations

Design changes might drastically change what is required A small buffer was made in the budget

to compensate for this

Budget Plan

Category Allocated Budget

Metals $400.00

Bushings/Bearings/Shafting $100.00

Miscellaneous Hardware $ 50.00

Surface finishing $ 50.00

Prototyping $100.00

Test Stand Hardware $150.00

Total Budget $850.00

Sub-team Plan for next semester

In charge of Team Purchases Keep accurate Expense Report Make any additional Material

Selection charts needed

Sub-team Plan for next Semester

Cost Analysis

Expense Report

PDR

Final Design Report

Senior Design Showcase

1/10/2009 1/25/2009 2/9/2009 2/24/2009 3/11/2009 3/26/2009

Research and Finance Gantt Chart

Start DateCompletedRemaining

Sub-team Plan for next Semester

Justin NunnResearch and Finance

Sub-Team LeaderPurchasing

William Rae and Justin Nunn

Expense ReportJustin Nunn

Material Selection

William Rae

Ethical Behavior of Sub-team

This sub-team will be in charge of most of the money handling of the group They will need to be responsible with

how they spend the money

Discussion on Life-long Learning

Good Researching skills acquired Useful in the working environment

Budget Planning Practice for developing and keeping

track of a budget

Conclusion

This sub-team will make all purchases All sub-team members will be involved

with this Keep an accurate expense report

Justin Nunn will be in charge of this Create additional Material Selection

Charts as needed William Rae will be in charge of this


William RaeJameson L. Tai

In Partnership with

Design and Analysis Sub-Team

Introduction

Introduction to Sub-team Task Design Objectives for Sub-team Task Design and Analysis for Sub-team

Task Detailed Drawings for Sub-team Task Sub-team Plan for Next Semester Ethical Behavior of Sub-team Discussion on Life-long Learning Conclusion

Introduction to Sub-team Task

Purpose To take the initial ideas from the

team and improve upon them through iterative analysis and coordinated material selection to produce detailed engineering drawings for fabrication.

Introduction to Sub-team Task

Goals To apply our knowledge gained in class in

designing project components To produce the best possible components

using the analysis skills and tools at our disposal

To apply technical skills, communication skills, and the engineering design process into the project

Design Objectives for Sub-team Task

Design components as specified by the team’s brainstorming sessions

Use computer-aided design and computer-aided engineering tools to transition from ideas to finished designs through a process of iterative analysis

Work with Research and Finance Sub-team to perform material and part selection

Produce production drawings for Fabrication and Testing Sub-team

Design and Analysis for Sub-team Task

Detailed Drawings for Sub-team Task

Sub-team Plan for Next Semester

This sub-team will be functioning in a support role for the next semester.

If problems arise in the fabrication and testing phase of the Design and Analysis Sub-team will be ready to modify plans


Design support

Mech Design 2 PDR

Final Design Review


1/12/2009 2/1/2009 2/21/2009 3/13/2009 4/2/2009 4/22/2009

Spring 2009 Design and Analysis Sub-Team Gantt Chart

Start Date

Completed

Remaining


Design and Analysis Sub-Team William Rae

Fabrication and Testing Feedback:

Jameson L Tai

Design Modifications:William Rae and Jameson L. Tai

Analysis Modifications:

William Rae

Ethical Behaviorof Sub-team

This sub-team works to ensure all designs will function within the following regulations and guidelines: Safety as defined by Florida Institute of Technology Robotics operation guidelines as set by Dr.

Larochelle OSHA STD 01-12-002 - PUB 8-1.3, robotics

guidelines

By following these guidelines we are able to ensure the safety of the people, machine and building.

Discussion of LifeLong Learning

This team uses a combination of engineering skills and modern tools to identify the problem and step through the engineering process ending with the production of detailed drawings from which the Fabrication and Testing Sub-team can produce components.


The ability to combine core engineering skills like productive brainstorming and design visualization with modern computer engineering tools provides us with the ability to successfully find a place in a career that is constantly evolving and yet relies on age old essentials.

Conclusions

The sub-team successfully worked together to translate a problem into designs of producible tools to interface with existing machinery and accomplish specific tasks.

The team has remained on schedule throughout this project so far and is fully prepared to remain on task and on schedule for the remainder of the project.


Jameson L. Tai

In Partnership with

Fabrication and Testing Sub-Team

Introduction

Introduction to Sub-team Task Design Objectives for Sub-team Task Sub-team Plan for Next Semester Ethical Behavior of Sub-team Discussion on Life-long Learning Conclusion

Introduction to Sub-Team Task

Purpose To fabricate parts and assemblies according to

specifications provided by the Design and Analysis Sub-team

To adhere to design guidelines, goals, and financial plan set by the Research and Finance Sub-team

To properly test the fabricated tools and tool holders and subject them to a reasonable amount of tests to evaluate its repeatability, reliability, and functionality.

Introduction to Sub-Team Task

Goals To apply technical skills, communication skills, and

the engineering design process into the project

To fabricate parts according to specifications safely and accurately

To design and construct a testing apparatus to ensure safe operation of the PantherBot before deploying to live hallway tests

To operate safely during testing while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with

Design Objectives for Sub-team Task

Effectively fabricate parts to specifications set by Design and Analysis Sub-Team and materials researched and selected by the Research and Finances Sub-Team

Test tools and tool holders by constructing a test rig which will effectively simulate doors in Olin Engineering Complex, as well as buttons and door panels

Make sure the tools fabricated are tested enough such that repeatability can be reached.


This sub-team will begin work once materials ordered by the Research and Finance Sub-Team arrives.

Fabrication of parts will begin in conjunction to begin coding on the PantherBot to accept the tools and teach it to operate the tools.


Test rig construction will begin after all tools and tool holders are fabricated.

Testing phase will begin after the rig has been set up.

Detailed schedule noted in Gantt Chart.


Receive material

Tool 1 Fabrication

Tool 2 Fabrication

Tool 3 Fabrication

Tool Holders Fabrication

Test Rig Construction

Coding

Testing Phase

Mech Design 2 PDR

Final Design Review


1/12/2009 1/22/2009 2/1/2009 2/11/2009 2/21/2009 3/3/2009 3/13/2009 3/23/2009 4/2/2009

Fabrication and Testing Sub-Team Spring 2009 Gantt Chart

Start Date

Completed

Remaining


Jameson L. TaiFabrication and Testing

Sub-Team Leader

Tool 1 Fabrication:

William Rae and Jameson

L. Tai

Tool 2 Fabricatio

n:

Justin Nunn

Tool 3 Fabrication:

Jameson L. Tai

Tool Holder Fabrication

:

Justin Nunn

Test Rig Construction:

William Rae and Jameson

L. Tai

Coding:

Jameson L. Tai, William Rae, Justin

Nunn

Testing:

Jameson L. Tai, William Rae, and

Justin Nunn

Sub-Team Organization for Next Semester


This sub-team works to ensure all designs will function within the following regulations and guidelines:

Rules and Regulations defined by Florida Institute of Technology Machine Shop

29 CFR 1910.252 – Occupational Safety and Health Standards will be followed in the Machine Shop when welding, cutting, and brazing

Standards based on U. S. Department of Labor – Occupational Safety & Health Administration

http://www.osha.gov/pls/oshaweb/owadisp.show_document?p_id=9853&p_table=STANDARDS


OSHA 3151-12R 2003 will be followed when necessary regarding personal protective equipment

Robotics operation rules as set by Dr. Pierre Larochelle, Director of the Florida Tech Robotics and Spatial Systems Laboratory

OSHA STD 01-12-002 - PUB 8-1.3 will be followed regarding guidelines for robotics safety

Standards based on U. S. Department of Labor – Occupational Safety & Health Administration

http://www.osha.gov/Publications/osha3151.pdf

http://www.osha.gov/pls/oshaweb/owadisp.show_document?p_table=DIRECTIVES&p_id=1703


Adhering to these guidelines will make sure that the tools fabricated and the tool holder will not harm the PantherBot, its surroundings and hardware that it will be in contact with.

This is important to keep the project within design objectives and goals set by the team.


To stay current in fabrication: New developments in part fabrication▪ new CNC machines, ▪ CNC coding, ▪ drawing integration with machine shop machinery▪ Ways to produce intended parts faster with increased

precision

When working in this area, a sharp knowledge of how to machine a part, its design intent, and effectively and efficiently doing so is required have a successful career.

Discussion of LifeLong Learning To stay current in testing,

Stay current in related technology and interdisciplinary fields▪ Materials science and engineering ▪ Fracture mechanics▪ Computer-aided engineering (modeling, analysis, and simulation) of

possible testing rigs, experiments, processes▪ and other interdisciplinary fields

In testing, some mechanical engineering students become test engineers in the field.

Test engineers research and develop ways, techniques, processes, procedures, and experiments to test a part, an assembly, a set of processes, or a finish product.

Conclusions

Pending the arrival of materials, the Fabrication and Testing Sub-team will begin fabricating the tools and tool holders

Fabrication is projected to end by mid-February 2009

Construction of the test rig and software integration with the PantherBot is projected to be complete by late-February 2009

Conclusions

Full testing phase is projected to be completed by mid-March 2009

Senior Design Showcase set to be on April 3, 2009

The sub-team is on-time and will split up sub-team tasks as shown in its sub-team organization section

Questions?

all logos in this presentation is courtesy of the florida institute of technology robotics and...

Documents

material slide

onlinemetals slide

allowed budget slide

analysis subteam

finance sub team

machined materials materials

door handle slide

subteam task budget