P18390: Translational Drift Robot
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Customer Handoff & Final Project Documentation

Table of Contents

Team Vision for Final Demo and Handoff

During this final phase, our team planned on using the 3D printed 3 lb robot to serve as a test platform for the code. We would also work on making a new 30 lb robot chassis with fixes for the flaws in the previous design. Unfortunately, the motors used for the 3D printed robot were too large to fit in their designated areas, so they had to be mounted externally in a less secure fashion. This resulted in the robot breaking apart when spun up for the first time. There was not enough time left in the semester to redesign and reprint a new chassis, so that plan was scrapped. The 30 lb chassis went much better; it was machined in about a week and preliminary fit tests of the components yielded positive results. The new wheel assemblies in this chassis have much less friction than before, which when coupled with the use of timing belts, the better belt drive ratio, and the slightly wider spacing of the wheels, should greatly improve our spin up performance while reducing our theoretical max speed.

Deliverables

Outputs & Destination

Imagine RIT Video

Lightning Talk Slide

Poster

Technical Paper

Performance vs Requirements

Risk and Problem Tracking

Below are our updated risk assessment and problem tracking associated with the bots. The live documents can be found underneath.
Risk Assessment

Risk Assessment

the live document can be found here.

Test Plan

Test Plan

the live document can be found https://drive.google.com/open?id=1uB1LH5q2O8zYHkQPotEL1cnWLZ0azCOJ5UnCAVSOo7I.

Problem Tracking

Problem Tracking

the live document can be found here.

Final Project Documentation

Beetleweight Print Start

Beetleweight Print Start

Beetleweight Print Video

Beetleweight Print Video

Beetleweight Print Finished

Beetleweight Print Finished

Beetleweight Test Platform

Beetleweight Test Platform

Beetleweight Electronics

Beetleweight Electronics

Beetleweight Motor Spin

Beetleweight Motor Spin

Beetleweight Electrical System Test

Beetleweight Electrical System Test

Beetleweight Wheel Evaluation

Beetleweight Wheel Evaluation

Beetleweight Preliminary Test

Beetleweight Preliminary Test

Beetleweight Print After Failure

Beetleweight Print After Failure

PCB Layout and Connections

PCB Layout and Connections

Power Flow Schematic

Power Flow Schematic

1x PCB 1x Chassis - Aluminum or Plastic: See STL files

1x Printed PCB Cover

2x ADXL193 https://www.sparkfun.com/products/retired/9332 -NOTE: This is no longer produced by Analog Devices, Try the ADXL1004

1x LSM303DLHC Breakout Board

2x Dotstar Strips

3x UBEC

1x X8R or X4R radio receiver

Small Bot:

2x PROPDRIVE v2 3536 910KV Brushless Outrunner Motor

1x Turnigy nano-tech 1300mAh 4S 45~90C Lipo Pack

-note: buy extra batteries

2xHobbyKing 60A ESC 4A UBEC

-note: these must be reprogrammed with simonK firmware for proper function

Large Bot

2x VESC Motor controllers

2x Propdrive v2 380kv BLDC Motors

1x Turnigy nano-tech 4500maH Battery

-note: buy extra

-Software and PCB Schematics can be found on the github repository linked on the Home page

Plans for Wrap-up

The plan is for Stephen to continue the project through to its completion with some assistance from Jacob as well as any other team members interested. We would like the new version of Polar Storm to be fully assembled this summer and begin testing and coding then. We hope to have the code and robot completely ready well before Motorama 2019, where we plan on competing again.

Recommendations for future work

Future work would entail a couple of things. First would be making the 30 lb bot second revision functional and ready for competition. Second, would be making the small robot work, including printing a new chassis, manufacturing motor reinforcements, assembly and finally code.

In general, future work could entail the completion of the absolute reference software, and subsequent testing related with that. Ultimately, this software would not be as beneficial in Battle Bot competitions because of the unpredictability of connection and ensuring the bot would be fail proof. At some point it might be possible to implement it, although the standard controller is currently preferred.


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