Day 1 - Intro WEP 1035 What is a Robot? Very broad term In General: Electro-mechancial system
Guided by computer code orelectronic circuit Control: Autonomous control Semi-autonomous control Remote control Robotic Systems Types of Robots
Industrial Robots Mobile Robots Humanoid Robots Autonomous Cars Workshop Objectives Basics of Robot Design and Development:
System Architecture Design Mechanical Design - SolidWorks Electronic Board (PCB) Design - Altium Embedded Programing mbed microcontroller Mechanical Assembly Electronics Assembly and Wiring Testing, Debugging and Troubleshooting Software Packages Altium Electronics Design Solidworks
Mechanical Design Mbed Online Compiler Embedded Programming Docklight Serial and IP data sniffing and debugging Android Studio Android Software Development WEP Robot Design a two-wheeled robot Camera for video streaming
Inertial Measurement Unit (IMU) forangle measurement Wheel encoders for distancemeasurement Rechargeable Li-Poly battery Onboard Wi-Fi router Embedded microcontroller for control Controlled wirelessly from an Androidphone or tablet Timeline Day 1 Intro + Begin Design
Day 2 Finalize Electronic and Mechanical Designs Day 3 Fabrication Day 4 Assembly Day 5 Testing Science Fair - Competition Martin Velazquez-Rizo
Team Members Mechanical Designer Electronics Designer Embedded Programmer Team 1 Bingjie Chen Yang Liu Usman Amin Fiaz Muhammad Karimi Muxingzi Li Team 2 Aaron Sanchez Yanez Ren Li Martin Velazquez-Rizo Yazeed AlHarbi Jorge Rosas Team 3 Ditho Pulungan Ayman Karam Hassan Almutawa Yomna Al Ibrahim Hind Alamro Team 4 Mayadah Alhashem Abdullah Alshehri Carmen Barron Sarah Alghamdi Noureddine Toumi Team 5 Mireille Hantouche Khalil Moussi Po-Chun Chen Jean Lahoud Nura Aljaafari Team 6 Zhen Jian Abdullah Almansouri Shuai YANG Furrukh Sana Rana Al-Rabeh Team 7 TKS Workshop Goals Purpose:
Get a taste of working in an interdisciplinary robotics development team Tasks: Electrical: Design and fabricate the electronics board (PCB), wiring and soldering Mechanical: Finish mechanical design, fabricate some of the parts, assemble Programmer: Code the embedded microcontroller software All: Test and troubleshoot Goals: Remote control the robot from Android Prevent spinning in place Bonus: use encoder for autonomous pre-defined motions Competition Science Fair
Stop 1m Tuesday 1PM Figure 8 Time Trial Manual Control Figure 8 Time Trial (Only Using Camera) Autonomous Driving Accuracy Drive a predetermined maneuver using encoders Dimensions shown 1m 1m 2m Start Parts Available 2x DC motors Embedded microcontroller (mbed)
Rechargeable Li-Po battery Wi-Fi router IMU (3-axis accelerometer & 3-axis gyro) Motor driver Wi-Fi camera (D-Link) Battery charger Power supply Mechanical components: 2x motor bracket 2x wheels 2x motor hubs Screws Motors Brushed DC Motors Brushless DC Motors Servo Motors Stepper
Cheap Simple to use 2 wires Med torque Med speed Med efficiency Speed app.: Wheels Driver Expensive Complex to use 3,6 wires High torque High speed High efficiency Speed app.: Quadrotors Speed controller Expensive Simple to use 3 wires Low torque Low speed Low efficiency Position app.: Pan & Tilt Without driver Expensive Complex to use 5-10 wires High torque Med speed Low efficiency Position app.: 3D printers Driver Motor DC Motors 70:1metal gearbox Quadrature Encoder 16 pulses per rev 64 counts per rev (16x4) Electronics Board (PCB)
IMU LED MBED Camera DC Conv 5V DC Conv Motor Driver Fuse Embedded Microcontroller (mbed)
mbed NXP LPC1768 40-pin DIP, 0.1-inch pitch (breadboard) Drag-and-drop programming ARM Cortex-M3 CPU: 100 MHz, 64 KB of SRAM, 512 KB of Flash Ethernet, USB OTG SPI, I2C, UART, CAN GPIO, PWM, ADC, DAC Easy-to-use online tools: Web-based C/C++ programming environment API-driven development using libraries withintuitive interfaces Comprehensive help and online community Inertial Measurement Unit (IMU)
IMU (Sparkfun - SEN 10121) ADXL345 accelerometer (3-axis accelerometer) Measures accelerations in x, y, z (m/s^2) ITG-3200 gyro (3 axis gyroscope) Measures angular velocity in x, y, z (rads/s) 3.3V input I2C interface (Refer to Altium Schematic) Used on the robot for measuring the tilt (pitch) Pololu Dual MC33926 Motor Driver Brushed DC motor driver
2 Full H-Bridges 5-28 V 3A (5A peak) per motor PWM Pins: Motor 1: M1D2 Motor 2: M2D2 Directions Pins Motor 1: M1IN1, M1IN2 Motor 2: M2IN1, M2IN2 Neopixel LEDs Tiny, bright RGB pixels Daisy Chain Design Only 8mm x 10mm Need 1 pin/wire to controlall the LEDs in the chain System Architecture Diagram
IMU Left Motor mbed Motor Driver Right Motor Android Device Router LEDs Camera 5V 5V 11.1V DC-DC Converter DC-DC Converter Battery