wandering ambassador
Post on 22-Feb-2016
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WANDERING AMBASSADORP112152010-1 2010-2
Team Members: Chris Hoerbelt (ME) Greg Mucks (ME) Anthony Poli (ME) Justin Akerman (CE) Jon Notaro (EE) Hersh Anand (EE) Eric Tripp (EE)
Faculty Guide: George Slack
Background:Customer conceptualized a robot which demonstrates RIT’s commitment to sustainable energy, innovation, and creativity. The robot would engage in a symbiotic relationship with the plant passenger and by meeting the needs of the plant (sunlight, water), the plant’s needs would positively influence the robot’s actions.
Mission:Integrate existing hardware with newly designed subsystems to deliver functional prototype ready for software development
Key Objectives:• Debug I2C communication interface• Design & integrate sensor circuitry• Implement redundant safety features• Design easy-to-use transport mode• Optimize sensor layout • Design vibration mitigation features• Fabricate and assemble full prototype
Primary Customer: Stan Rickel
Last line of defense after all other bump detection methods fail. Circuit detects motor current draw spike and cuts power to motors and sends signal that current has spiked.
Current Limiting Circuit Bumpers were loaded with maximum calculated drive load and achieved a factory of safety of 2.0.
FEA Analysis
Handle available for transporting the robot. Collapsible when robot is in use.
Transport Handle
Chain Guard
Plant
Emergency Stop Button
Bump Sensor
Water Reservoir
Transmission gears coupled to allow motor drive.
Transmission Engaged
Transmission gears un-coupled to allow pushing of robot
Transmission Disengaged
TransmissionDrive Wheel Support
CasterMotor
Upgraded Platform Prototype
MSP430 MicrocontrollerBeagleboard
Computer
Beagleboard Computer
Motor Control Microcontroller
Motors
Shaft Encoders
Plant Care Microcontroller
Water Pump
Moisture
Photo diode
Temperature
Navigation Microcontroller
Compass
Accelerometer
High Level Control / Decision Making
Input / command interpretation
Input / Output devices
Input / Output Ports
Power Conversion
Upgraded Drivetrain
Main Logic Board
Control Hierarchy
Onboard Sensors
Inherited Platform Upgraded Platform Model
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