P07201: RP10 Motor Module
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P07201 Project Readiness Package

Table of Contents

This document describes and serves as a template for preparation of a Project Readiness Package.

The objective of the Project Readiness Package is to document:

It will serve as the primary source of information for students necessary during Phase 0 (Planning) to develop a SD I plan and schedule including specific deliverables and due dates. The Project Readiness Package will also support Faculty evaluation of project suitability in terms of depth, scope, and student / faculty resources by discipline.

Administrative Information

Project Name
Motor Module - Robotic Platform 10 kg (RP10)
Project Number
P07201
Track
Vehicle Systems Technology
Start Term
2006-1
End Term
2006-2
Faculty Consultant
Jeff Webb, Prof. George Slack
Faculty Guide
Dr. Wayne Walter
Primary Customer
Dr. Hensel (ME Dept. Head)
Secondary Customers
Dr. Crassidis (ME), Dr. Hu (CE), Dr. Yang (CE), Dr. Sahin (EE), and Dr. Walter (ME)
Customer contact information
Dr. Edward Hensel, PE
Professor and Head
echeme@rit.edu

Project Overview

The mission of this student team is to develop a fully functional, scalable motor module subsystem for use on the 10 kg (RP10) robotic vehicular platform. The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research.

Staffing Requirements

Discipline Number of Students Skills Required
EE 4 Ability to work with microcontrollers, DC motor controllers, encoders, power supplies et. al; and their interaction with each other and mechanical systems.
ME 2 Ability to characterize power transmission within mechanical systems, and to work with the interaction between electrical and mechanical systems.
CE 0 N/A
ISE 0 N/A
Other 0 N/A

Continuation, Platform, or Building Block Project Information

The mission of the Vehicle Systems Technology Track of projects 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 collection of projects should use an engineering design process to develop modules and subsystems that can be integrated by subsequent senior design teams. This 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 track 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 roadmap will be initiated during the Fall Quarter, 2006-1, with three closely related projects. Additionally, these three projects have significant overlap with projects from the Aerospace Systems and Technology Track (P07100), and the Systems and Controls Track (P07300).

Principle Sponsor or Sponsoring Organization

Gleason Foundation

Detailed Project Description

Customer Needs

Customer Deliverables

Design, build, and fully characterized working prototypes of 4 idler modules and 3 powered motor modules. See the "Detailed Course Deliverables" section for more specifics.

Customer and Sponsor Involvement

The team will be expected to carry out the vast majority of their interactions with the Team Guide (Dr. Walter), and the teaching assistant (Jeff Webb). Dr. Hensel (The sponsor and customer) will be available for a series of meetings during the course of the project. Dr. Hensel will meet with a group of teams during the beginning of SD1 to lay out common goals, objectives, and philosophies for the sequence of projects being sponsored by the Gleason Foundation gift to the ME Department. It is anticipated that Dr. Hensel will meet with the team (or multiple related teams) for 2 hour meetings approximately 4 times during senior design 1, and twice during senior design 2. Dr. Hensel will participate with team communications electronically, through the web site as well.

Regulatory Requirements

Project Budget and Special Procurement Processes

Intellectual Property Considerations

Everything associated with this project is public domain.

Engineering Specifications

Motor Module Specifications
10kg Robot Specifications

The motor modules must be able to meet the following requirements when used together on a platform:

Figure 1: Prototype Configuration Requirements

Figure 1: Prototype Configuration Requirements

Table 1: Tradeoff Assessment
Model Size (m) Tare Weight (kg) Payload Capacity (kg) Speed (m/s) Turning Radius (m) Remote Range (m)
R10 0.30 x 0.15 x 0.30 9 10 2.25 0.30 30

Safety Constraints

Detailed Course Deliverables

Note that this level describes an absolute level of expectation for the design itself, and for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.

See Senior Design I Course Deliverables for detail.

The following tasks should be completed by the end of SD1:
The following tasks should be completed by the end of SD2:

Preliminary Work Breakdown

The following roles are not necessarily to be followed by the team. It is merely to justify the number of students from each discipline. The student team is expected to develop their own work breakdown structure, consistent with the general work outline presented in the workshop series at the beginning of SD1. However, the customer requests a level of detail NO GREATER than weekly tasks to be completed by each student team member for the benefit of the other team members. The customer DOES NOT request any level of detail finer than one-week intervals, but will assist the team members if they wish to develop a finer level of detail to support their own efforts.

ME:
  1. Powertrain (i.e. motor, transmission, etc.).
  2. Yoke and any other necessary hardware not previously mentioned.
EE:
  1. Microprocessor hardware and integration, sensing, and overall architecture.
  2. Software.
  3. Power electronics (i.e. motor controller, etc.).
  4. Power (i.e. batteries, AC/DC converters, etc.).

Grading and Assessment Scheme

Grading of students in this project will be fully consistent with grading policies established for the SD1 and SD2 courses. The following level describes an absolute level of expectation for the design itself, and for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.

Level D:
The student team will build and fully characterize the baseline robot kit provided by the Teaching Assistant. The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will also be fully characterized.
Level C:
The student team will deliver all elements of Level D PLUS: The motor module prototypes will meet all customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers.
Level B:
The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will show quantitative improvements over the baseline robot kit for the customer's application. There will also be marked improvement over the baseline robot kit in the areas of control and user interface.
Level A:
The student team will deliver all elements of Level D, C, and B PLUS: The motor module prototypes will exceed the baseline robot kit in every aspect asked for by the customer. The prototypes will be completely ready for "plug and play" use on a robot platform.

Three-Week SDI Schedule

This project will closely follow the three week project workshop schedule presented in SD1. See the Course Calender for Details.

In addition, the following tasks should be completed ASAP:

  1. Go over the information on the edge website, from the Design Project Management Robotics Platform Roadmap, and in the Preliminary Information binder.
  2. Build the kit provided by the Teaching Assistant.
  3. Test and fully characterize the equipment in the kit.
  4. Compare the results with the other Vehicle Systems Technology Track teams.

Required Resources

Faculty
Item Source Description Available
Prof. Walter ME Faculty Guide/Coordinator/Mentor Yes
Prof. Hensel ME Customer Yes
Prof. Slack EE Technical Consultant Yes
Environment
Item Source Description Available
Robotics Lab ME 09-2230 Work Space/Storage Yes
Sr Design Lab EE 09-3xxx Work Space Yes
ME Shop ME 09-2360 Parts Fabrication Yes
Equipment
Item Source Description Available
DC Motor Dyno EE Electric Machines Lab Characterization Unknown
Power-supply EE Department Used for Testing Unknown
Desktop PC Throughout Programming Yes

The team members will be expected to procure the materials needed for the project, excluding the following:

Materials
Item Source Description Available
Super Droid Robot ATR Teaching Assistant 10kg payload example Yes
IFI Robotics Kit Teaching Assistant 100kg payload example Yes