LUNAR

SECON Team 2Senior Design 2Mid-Semester PresentationFebruary 28th, 2008

SECON Team 2

Andrew Tigert

KhanhBui

Ryan Sparks

Chris Dailey

Dr. Bryan Jones

Locomotion X X

Power X X

Block Pickup and Storage X X X

Gyroscope X

Integration X X

Faculty Advisor X

Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline

Competition Basics Block point values Maximum of 4 blocks can be scored 6-minute matches Three preliminary rounds

Single robot Cumulative score determines seeding in

playoffs Head-to-Head Playoffs

Top 8 teams from preliminary rounds Two robots on the same playing field

Block Placement

Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline

Modularity

Components are easily interchangeable Pick-up mechanism Batteries Servos

Removable pick-up mechanism

Reliability Must not require any major repairs in

between rounds Material and construction choices

Base Gripper assembly

Convert potential major problems into easily repairable minor problems

Technical ConstraintsName DescriptionDimensions The robot must be completely self contained and no

larger than 10” x 10” x 11”.Block Pick-up

The robot must be able to pick up blocks at varying angles on three different terrains without sliding the blocks more than 4 inches

Block Storage

The robot must be able to store at least 1 block onboard.

Speed The top speed of the robot must be at least 6 inches per second.

Power The battery must be able to supply power for a minimum of 7 minutes

Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline

Design I Progress Maneuvers on 2 of the 3 terrains Performs 90 degree turns Collects and stores 2 blocks Returns to home base Outside size constraint

LCD

Used for debugging Connected to Team

2’s PIC Team 1 sends

information for display

PIC migration Pin changes

Servos Peripheral interrupts

Serial communication

PIC kit is now used Migration headaches New configuration file

PCB Initial PCB design

& population PICs functional

tests Required

changes for next revision

Block Storage

Storage Constraint: 1 Storage Capability: 4

Three blocks are held in the tray

Gripper holds the last block

Recessed area holds side blocks in place

Rotation

New Servo Allows for Precise Turning

Gears Easier to take apart,

better for testing Do not break or skip

teeth Very reliable

Rotation

Ball Bearing Joint allows for smooth rotation

Gripper

New Lifting Servo Mounts

Smooth Rod for Lifting

Teflon Allows for Smoother Travel Along the Horizontal Rod

Encoders Vex encoders vs. U.S. Digital

Size Shaft type

Used for driving straight Secondary block detection

Gyroscope

Measures turn angles

Collision correction

Test Plan Completed

PICs Pick-up Mechanism Track Servos Storage Tray

Ongoing PCB Encoders Gyroscope

Design II Summary Encoders provide feedback on motors Gyro used for collision

detection/correction Storage system holds 4 blocks Robot meets the size constraints Tracks replace wheels and casters PCB design

TimelineJan Feb Mar Apr

Track Construction

Body Redesign

PCB Design

Translate to PIC18F6527

Change Approach

Populate PCB

Integration

Testing

Competition

Questions?

Resources [1] IEEE. (2007, Sept. 4). “2008

SoutheastCon Hardware Competition Rules,” IEEE Region 3 Huntsville Section Web Site. [Online]. Available: http://ewh.ieee.org/reg/3/secon/08/documents/Hardware_Competition_Rules_v16.pdf