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Table of Contents 1 Project Overview 2 Administrative Information 3 Team Documents 3.1 [[Planning]] 3.2 [[Concept Development]] 3.3 [[System Level Design]] 3.4 [[Detail Design]] 3.5 [[Testing and Refinement]] 3.6 Published Documents 3.7 Team Site

Project Overview

This project is a continuation of the P07200 family of projects. This project will focus on correcting the design weaknesses of the previous team's final product. The team is expected to deliver a fully functional robot that meets the design and testing requirements set forth in the project readiness packages for P07201 and P07204. The team will replace the current h-bridge system with an off the shelf, component that uses PWM and has built in h-bridges to regulate steering and drive motor speeds and directions, such as the Victor Motor Controller. Communication to the motor controller will be accomplished through the use of existing PC104 boards (pending approval from the EE department). The team will also redesign the wheel/motor assembly; it should look similar to last years design (see picture below), but with a new platen. The wheel is mounted on an axle, which is retained by a yoke. The yoke is rotated by the steering motor, and is capable of infinite rotation in both the clockwise and counterclockwise directions. Wheel attachment, wheel enclosure, and method for infinite rotation ability are open for redesign. In addition, the team will be responsible for completing the encoder systems so that the drive and steering encoder outputs are sent to the computer. They will also design and create a simple, flat rectangular platform with different attachment points so that it can be configured as either a triangular or rectangular wheel set up. Finally, a battery charge monitoring system will be added to alert the user when the battery is low. The team will re-use the motors from the 2006-2007 year to reduce costs. Available motors include: * 3 drive motors, 100kg payload (type A: NPC-02446, NPC Permanent Magnet DC Motor) * 3 steering motors, 100 kg payload (type B: TD-016-252, IG42 24VDC 252 RPM Gear Motor) * 3 drive motors, 10 kg payload (type B: IG420017-C5201 from Shayang Ye Industrial Co.) * 3 steering motor, 10 kg payload (type C: IG320071-41F01 from Shayang Ye Industrial Co., Ltd.) * 16 mini-motors from Jeff Webb's thesis project (type D: GMH-04 from Lynxmotion) It is expected that the team will have a working prototype of the wheel assembly completed by the end of senior design I to allow sufficient time for successful integration and testing of the robot in Senior Design II.

Administrative Information

Project Name

10 kg Payload Modular Robot

Project Number

Project 08201

Project Family

RP 10/100 (200)

Track

Vehicle Systems Technology

Start Term

2007-1

End Term

2007-3

Faculty Guide

Dr. Wayne Walter

Faculty Consultant

Graduate Teaching Assistant

Erin Gillespie (emg3482@rit.edu)

Primary Customer

Dr. Hensel (ME Dept. Head), echeme@rit.edu

Secondary Customers

Dr. Crassidis (ME), Dr. Hu (CE), Dr. Yang (CE), Dr. Sahin (EE), and Dr. Walter (ME).

This project is supported by a gift from the Gleason Foundation to the mechanical engineering department at RIT.

Team Documents

This outline for the posting of team created documents follows the general product development process presented in the textbook "Product Design and Development" by Ulrich and Eppinger. Portions of the team documents have been prepared by a DPM student prior to the launch of this project. This information is intended to help get the team started with a first draft needs assessment and work breakdown structure. The team members can adapt this information as the project progresses. Keep in mind that everything you include in this web tree is visible to the world and the general public. If you have documents that reflect work in progress, or contain data that has not been fully vetted, then it may be better to include those internal working documents in the private section of the web tree, or in the project repository proper, outside of the web tree. Note that anyone with Guest or higher memberhsip in your project can read your entire project repository. Anyone with an Editor or higher membership can makes changes to your repository. All Observer members can view, but not edit, the web portion of your repository. These links provide a basic starting point for your team to prepare a comprehensive web site about your project. After you get started on the project, you may want to replace these introductory paragraphs with a photograph of your team. Near the conclusion of your design project, you may also wish to include a photo of your finished product. SD I Deliverables

Planning

Preliminary PRP document Mission Statement

Staffing Requirements

Customer Constraints

Intellectual Property Considerations

Preliminary Work Breakdown Structure

Team Values and Norms

Grading and Assessment Scheme

Required Resources

Concept Development

Identify Customer Needs

Establish Target Specifications

Generate Product Concepts

Select Product Concept(s)

Test Product Concept(s)

Set Final Specifications

System Level Design

Product Architecture

Detail Design

Design for Manufacturing and Assembly Robust Design Design for the Environment and Sustainability Design for Reliability Design for Safety

Testing and Refinement

Prototyping

Published Documents

As you conclude the project, include links to all of your finished and fully polished documents here. The previous sections of the web site contain the entire design history of your project. This section contains the finished products. Add more links as needed. Concept Design Review Documents (SD I) Detailed Design Review Documents (SD I) Managerial Design Review Presentation (SD I) Technical Conference Publication (SD II) Poster Publication (SD II) Managerial Design Review Presentation (SD II) Photo Gallery

Team Site

Home | P08201 Team Work Page