P18390: Translational Drift Robot
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Build & Test Prep

Table of Contents

Team Vision for Build & Test Prep Phase

Mechanical:

Electrical:

Administrative:

Progress Over Winter Break

Mechanical

We received the orders that were placed at the end of the Fall semester. This consisted of our McMaster-Carr orders and Robot Marketplace orders. We were able to begin machining parts for our final battle bot. Our progress can be viewed below:
Machining Dampening Layer

Machining Dampening Layer

For a video detailing the cutting of our damping layer click here.

Finalized Damping Sheet

Finalized Damping Sheet

Machining Teeth

Machining Teeth

Final Machined Teeth

Final Machined Teeth

Machining Polycarbonate Cover

Machining Polycarbonate Cover

Final Polycarbonate Layer

Final Polycarbonate Layer

Pulley Front View

Pulley Front View

Pulley Isometric View

Pulley Isometric View

To see how we machined our Wheel Brackets click here.

Machining Wheel Shaft

Machining Wheel Shaft

Finalized Wheel Assembly

Finalized Wheel Assembly

We are planning on beginning the Aluminum Chassis machining on January 26th, for a video of the toolpath we plan to use click here.

Electrical

Accelerometer

Accelerometer

Original accelerometer for determining robot vertical orientation, now replaced by LSM303DLHC which contains both a magnetometer and accelerometer.

Magnetometer

Magnetometer

Original magnetometer for orientation error correction, now replaced by LSM303DLHC which contains both a magnetometer and accelerometer.

Mounting Hardware For Prototype V2

Mounting Hardware For Prototype V2

Mounting Hardware for Second Prototype, To allow usage of thee BLDC motors and larger (6S, 2000mAH) batteries.

Motors and Temporary Wheels Mounted on Prototype V2 Mounting Plate

Motors and Temporary Wheels Mounted on Prototype V2 Mounting Plate

Motors were mounted underneath the mounting plate to allow more clearance between the frame and the wheels.

Mounting Holes for Motor Control Hardware

Mounting Holes for Motor Control Hardware

Mounting Holes were added to attach electronic hardware to the plate.

Wired Motor Controller and Motor Hardware Attached to Prototype Frame

Wired Motor Controller and Motor Hardware Attached to Prototype Frame

The motor controllers, battery, and motors were wired together using 8 gauge stranded copper wire.

Prototype V2 with Control Hardware

Prototype V2 with Control Hardware

A second layer was added to the prototype robot to hold the control hardware, in the near future this will be replaced by a PCB holding the control hardware.

LED Strip For POV Display

LED Strip For POV Display

This short video shows control of the LED light strip, that is to be used for the POV display. this firmware will be updated to use a feedback loop based upon accelerometer data.

Revised Control Hardware with New Magnetometer Board

Revised Control Hardware with New Magnetometer Board

The old magnetometer was not supported on the teensy3.2 and was unresponsive when tested on a different microcontroller. Therefore a slower, but better supported magnetometer was chosen. Additionally, this unit contains an accelerometer, reducing the total number of components by one.

Additionally, PPM will be used for speed control of the motors since they do not support RPM control from an analog signal and the UART library has been abandoned. This could end up being advantageous, as the teensy3.2 has a native PPM library and the PPM control on the motor controllers has onboard PID speed control.

Motor Spinning Up to 1500RPM, Increasing Speed ,Then Powering Down

Motor Spinning Up to 1500RPM, Increasing Speed ,Then Powering Down

An example of the higher speeds achievable with the higher voltage battery. The motor is able to reach about 22000-24000rpm without a load.

Test Plan Summary

Updated Test Plan

Updated Test Plan

Schedule

Our tentative schedule is listed below:
Tentative Schedule

Tentative Schedule

For the most up to date schedule click here.

Risk and Problem Tracking

Overall our risks have minimize and we are on the right track with our robot being on the right track to being finalized for the competition. Below is the snapshot of our updated risk assessment.

The reason we were able to alleviate many of the risks is because they were all related to our build. Since we have begun building and are going at a good pace most of the problems associated with time and hiccups in the build the likelihood of them has decreased. Additionally, we have spoken with the Simone Center and gotten more information for both reimbursement and finances taken care of.

 Risk Management

Risk Management

Additionally we have the most up to date copy of the Risk Assessment accessible here.

Design Review Materials

Include links to:

Plans for next phase

Team

Our plans focus on the competition, Motorama in Harrisburg, PA on February 16-18. We are planning on competing in the featherweight (30lb) weight class, and hope to do quite well hopefully winning quite a few battles. Since the competition is so close we have been focusing our priority to final assembly and machining. Our plan is to finish the build by the end of next week. This would leave us about two weeks to do the tests prior to the competition.

We are on the wire and overall everything is coming together, and we plan to continue on that track and finish up build for February. Individual

Stephen Pasek

Jimmy Kramer

Alex Howard

Rob Sokolowski

Jacob Harrell

Individual Three Week Plans
Stephen Pasek Jimmy Kramer Alex Howard Rob Sokolowski Jacob Harrell

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