Table of Contents
Vehicle Systems Technology Track
Project Family: Robotic Platform
The mission of this family of projects, within the Vehicle Systems Technology Track, is to develop a land-based, scalable, modular open architecture, open source, full instrumented robotic/remote controlled vehicular platform for use in a variety of education, research & development, and outreach applications within and beyond the RIT KGCOE. The family of projects should use an engineering design process to develop modules and subsystems that can be integrated by subsequent senior design teams. Project P07200 serves as the foundation or starting point for a series of senior design projects.
The mission of each student team contributing to this project family is to develop or enhance a particular subsystem for a robotic vehicular platform, and provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of each subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research.
This family of projects currently consists of the sub-projects as listed in the table below.
|Related Project||Title||DPM Term||SD1 Start Term||SD2 End Term|
|P07201||RP10 Motor Module||2005-3||2006-1||2006-3|
|P07202||RP100 Motor Module||2005-3||2006-1||2006-3|
|P08201||RP 10 Robotic Platform 2nd Generation||2006-3||2007-1||2007-3|
|P08205||RP 1 Motor Module First Generation Wireless Communications||2007-1||2007-2||2007-3|
|P08208||RP 1 Motor Module First Generation Drivetrain||2007-1||2007-2||2007-3|
Voice of the Customer
These objectives should be addressed across a series of projects related to this project family. Some individual projects within the track may focus on various areas of these objectives, but all student teams are encouraged to keep the "big picture" in mind, so that their individual project contributions can be more readily integrated with the larger system view.
- C.1 The design shall comply with all applicable federal, state, and local laws and regulations. Measure of Effectiveness: Every team's design project report should include references to, and compliance with all applicable federal, state, and local laws and regulations.
- C.2 The design shall comply with all applicable RIT Policies and Procedures. Measure of Effectiveness: Every team's design project report should include references to, and compliance with all applicable RIT Policies and Procedures.
- C.3 Wherever practical, the design should follow industry standard codes and standards. Measure of Effectiveness: Every team's design project report should include references to, and compliance with at least one industry code or standard.
- C.10 Every SD1 project should result in a technical report, including a set of design drawings and bill of materials supported by engineering analysis. Measure of Effectiveness: 80% of all SD1 evaluation responses by all review panels should be at a score of "acceptable" or higher.
- C.11 Every SD2 project should result in a physical engineering model, supported by experimental test and evaluation data. Measure of Effectiveness: 80% of all SD2 evaluation responses by all review panels should be at a score of "acceptable" or higher.
- C.20 The top speed of the vehicular platform should be scaled with its size, and should be safe for its operating range (environment).
- C.21 The vehicular platform shall have on-board and remote "kill switches".
- C.22 Human safety takes precedence over all other design objectives.
- C.23 Building and facilities safety takes precedence over robotic vehicle platform damage.
- C.24 The vehicle should be robust to damage by inexperienced operators.
- Regulatory Constraints
- R.0 The minimum acceptable team size is 3 students.
- R.1 The maximum acceptable team size is 8 students.
- R.2 The ideal team size is 6 students.
- R.3 Every design team shall be comprised of students from at least 2 KGCOE departments.
- R.4 Wherever possible, there should be at least two students from each participating department.
- R.10 The project team must have access to required equipment, tools, computers, software, and space to work.
- R.11 The team members should fabricate most custom components on campus, and the design should consider in-house manufacturing resources.
- People Resource
- R.30 The total development budget for the roadmap / track is not anticipated to exceed $15,000 during AY06-07 and 07-08 for first article prototypes of each project. The distribution of this amount between projects in the roadmap is left to the discretion of the DPM team.
- R.31 The cost to manufacture subsequent copies of a designed vehicle, sub-assembly, or part should decrease with increasing volume.
- R.33 The cost to manufacture subsequent copies of a designed vehicle, sub-assembly, or part should decrease with decreasing levels of instrumentation, but shall remain capable of being retro-fitted with instrumentation after initial manufacturing.
- R.34 The cost to manufacture subsequent copies of a designed vehicle, sub-assembly, or part should be borne by the team, faculty member, research project, company, or department desiring to use the item for their research and development work.
- R.40 The design teams are not expected to account for the nominal labor costs of RIT shop personnel as long as their time commitment does not greatly exceed that of other typical SD projects.
- R.41 The design teams are not expected to account for the nominal labor costs of TA's, Faculty, or other staff assigned to assist and guide then team, as long as their time commitment does not greatly exceed that of other typical SD projects.
- R.50 The design teams are not expected to recover the investment costs associated with the platform development.
- Materials Costs
- S.1 The robotic platform shall be scalable (1 kg, 10 kg, 100kg, and 1000kg payload variants of the same design)
- S.2 The robotic platform shall be modular (Modules must be inter-changeable between platforms of same scale)
- S.3 The robotic platform shall be open architecture (All COTS components must be available from multiple vendors)
- S.4 The robotic platform shall be open source (All drawings, programs, documentation, data, etc. must be open source published in standard formats)
- S.5 The robotic platform shall be manufacturable in lots as small as one and as large as 10.
- S.6 The robotic platform shall NOT be designed assuming that it is targeted for a commercial product.
- S.7 The robotic platform design shall be available for use and adoption by other commercially oriented SD teams.
- S.8 Initial targeted payloads (clients) include: (1) the Crassidis MINS client (2) the Yang Networking client
- S.9 The 100 kg payload vehicular platform must be demonstrable at the Summer 2006 sessions of College & Careers, and high school students desiring to do so must be able to operate the vehicle under remote control.
- T.1 The 100 Kg robotic platform (payload range from 10 to 100 kg) shall be designed first.
- T.2 The 100 Kg robotic platform (payload range from 10 to 100 kg) shall be built first.
- T.3 The 10 Kg robotic platform (payload range from 1 to 10 kg) shall be designed second.
- T.4 The 10 Kg robotic platform (payload range from 1 to 10 kg) shall be built second.
- T.5 The 1 Kg robotic platform (payload range from 0.1 to 1 kg) shall be designed and built third.
- T.6 The range of the 100 Kg robotic platform shall be the James E. Gleason Building, RIT Bldg #09.
- T.7a The range of the 10 Kg robotic platform shall be the floor of a single room in the James E. Gleason Building, RIT Bldg #09.
- T.7b The range of the 1 Kg robotic platform shall be an 8'8 by 8' table top.
- T.7c The range of the 1,000 Kg robotic platform shall be the RIT Campus.
- T.8 Technologies, software, modules, algorithms, and other developments should be made available to and accessible by the Underwater vehicle platform team and the airborne vehicle platform teams, and vice-versa.
- T.9 The results of this platform development roadmap should increase the reputation and visibility of the RIT SD program and our robotics technology "skill level" on a national basis. Measure of Effectiveness: By June 2008, at least five student-authored conference papers shall be submitted for publication at technical conferences (outside of the RIT senior design conference). Measure of Effectiveness: By June 2008, at least one student-authored journal paper shall be submitted for publication.
- T.10 The modules of the robotic platform shall be re-configurable into many different configurations. For example, it should be EASY and LOW COST to take expensive drive components for individual wheel drives and assemble them into 3-wheel, 4-wheel, and 6-wheel configurations, with the number of driven wheels ranging from 1 to 6.
- T.11 The preferred motion control technology is drive by wire.
- T.12 The preferred energy source is rechargeable DC battery.
- T.13 Technology priorities: (1) Two Wheel drive, skid steer (2) Two wheel drive, turn steer (3) Position and heading data logging (4) Autonomous control by the payload client (5) Passive Suspension (6) DFMA (7) Active suspension
- T.14 As every technology is introduced that technology must be (1) observable by and (2) controllable by the payload client.
- T.15 Each variant of the vehicle must be clearly impressive to any student, parent, engineer, mentor, or individual familiar with the US FIRST robotics competition.
Voice of the Engineer
- V.1 The platforms must be demonstrated functional in the two different configurations shown above.
- V.2 The motor module must be designed in such a way as to be able to operate on any shape platform with any number of driven and idler modules.
- V.3 The design enveloped for relevant engineering specifications are tabulated below for each size of the rectangular platform.
|Model||Size (m)||Tare Weight (kg)||Payload Capacity (kg)||Speed (m/s)||Turning Radius (m)||Remote Range (m)|
|R1||0.15 x 0.15 x 0.15||1||1||0.90||0.15||10|
|R10||0.30 x 0.15 x 0.30||9||10||2.25||0.30||30|
|R100||0.60 x 0.75 x 0.50||40||100||4.5||1.00||60|
- V.4 Deliverables required for each phase include, but are not limited to a fully functional prototype that meets all performance specifications, a complete collection of mechanical drawings, a bill of materials, and all software used.
- V.5 The platforms must be capable of integrating future features and projects such as data acquisition, data logging, advanced user interface, power and control of peripherals, and autonomous control.
- V.6 The platforms must be easy for a third party to understand, use, and modify.