Nandini Vemuri (EE)

Jason Jack (CE)

Ryan Schmitt (CE)

Jeff Howe (EE)

John Corleto (CE)

Emily Phillips (EE)

Power Distribution Subsystem

Wireless Communication

SubsystemGraphical User Interface

Motor Module

H-Bridge

DC Motor

PID Controller

Bus Controller

DC Motor PWM Output

Servo PWM Output

Encoder Input

• The Robotic Platform family provides off-the-shelf motor modules and platforms for diverse applications.

• The purpose of the Robotic Platform for 1kg payloads (RP1) system is to provide a scalable, dynamic, mobile platform for sensor arrays and attachable input/output devices.

• Future applications include use in freshman laboratory, research, and student projects.

• It was designed to allow for future improvement and changes to meet specific needs.

• The platform should also be scalable to allow the design to be easily adapted for implementation in the rest of the Robotic Platform family.

• Reuse as many parts from last year’s designs as possible.• Carry a payload of 1 kg.• Cost to design and build must fit within the $1000 budget.• Provide wired or wireless communication to the microcontroller.• The system must be modular to allow for interchangeable parts.• Platform must be scalable in size and payload capacity.• It must be open source and open architecture.• Battery life of at least one hour.• Physical size of the RP1 shall be an order of magnitude smaller

than the Robotic Platform 10kg (RP10) variant.• Provide a Graphic User Interface (GUI) for communication with

the system.

Project Overview Customer Needs

The Graphical User Interface (GUI) allows the user a simple way to control the robot. The interface has two modes of operation: basic and advanced. The Interface is able to control specific motors and to move a specific speed or distance. It also allows the user to communicate with future sensors or devices that will be implemented.

Wireless communication is accomplished by using a Bluetooth serial adapter. This allows the users to communicate to the system through the GUI. It has easily controllable baud rate and has a range of 100 meters.

The Power Distribution system implements many elements to ensure both protection of the motor module and the system in general. A 12V regulator ensures that the voltage supplied to the modules remains constant. Fuses ensure that the power delivered is not exceeding the expected limits.

Potential Future Improvements Special ThanksThe team would like to thank the RIT Mechanical Engineering Department for their financial support of this project.The team would also like to thank Dr. Wayne Walter, Dr. Edward Hensel, Todd Fernandez, Ken Snyder, and Dr. Mark Hopkins for continued support and advice throughout the project.

Thank you.

For more information visit: www.edge.rit.edu/content/P09204/

The Brian Dean (BD) Microcontroller development board uses the ATMega128 microcontroller in an open-source design. Assembly and board schematics are provided with the system. This subsystem interprets user commands and provides control to the other subsystems in the RP unit. It is the beating heart of the control system.

• Instead of using a mechanical relay, a MOSFET could be used which will likely have a longer switch life.

• Addressable wireless to allow many more RP1s in close contact.• Smaller chassis which is fully developed to test full capacity.• Redesign on motor driver to account for relay holes mismatch.• Improved GUI to allow for more functionality and features• Smaller battery to increase payload capability.

The Arduino Nano is an open source microcontroller that functions as a PID controller. This allows the robot to gradually attain a desired speed without jerky start-stop motions. The PID controller directly controls all servos, PWM drivers for the DC motors, and monitors encoder feedback. It communicates with the Processing Subsystem using the I2C bus controller.

The Motor Module was developed by the Mechanical Engineering Team P09203. They implemented the design to include a servo motor for turning, a DC motor for drive, and encoder feedback. It was designed under the specifications prescribed by the electrical system to meet the load requirements.

Encoder

Servo