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RP100:100kg-Payload Robotic Platform
P07205
Advisors:
Dr. Wayne Walter
Jeffrey Webb
Mechanical Engineering Dept. Faculty
Teacher’s Assistant
Team Members:
Aman Verma
A. David Gomez
Benjamin Smith
James Aclub
James Harris
Jeffrey Gill
Jesse Baker
Tian Zheng
EE - Electrical Craftsman
ME - Manager
ME - Mechanical Designer
EE - Electrical Systems Lead
EE - Software Engineering
ME - Mechanical Craftsman
ME - Systems Integration
EE - Electrical Designer
Sponsored By:
The Gleason Foundation
Project Description
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Track Objective: To create a general-purpose, modular
platform capable of safely transporting variable payloads.
Team Objective: To combine the technologies developed by
previous design teams into two fully-operating
configurations: rectangular and triangular.
Primary Customer:
RIT Mechanical Engineering Dept,
Dr. Edward Hensel Jr.
Secondary Customers:
Researchers and
Enthusiasts
Top-level Customer Needs
Customer Needs
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Perform safely
Comply with regulations
Perform tasks in KGCOE
Modularity
Economical
Robust
Accommodate other add-ons
Appeal
The project is properly documented
Easy to manufacture
Prototype Requirements
• Max Payload: 100kg (rectangular) 30kg (triangular)
• Total Budget for both platforms: 600.00USD
• Motor Module Exchange time: 120sec
• Locate 5 coordinates autonomously
Triangular Platform Concept
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Rectangular Platform Concept
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Rectangular Platform Concept
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Rectangular Platform Concept
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Rectangular Platform Concept
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Quick Change Motor Mount
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Electrical Wiring Concept
On Board Electronics
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Power supply
(include battery)
PC104 STACK (91mm x 97mm)
Serial bus
PC104 SBC
5V
12V
24Vdc
ISA bus
Kill switch
User Interface
P07301
DAQ
PC104 stack
24Vdc
ISA bus
P07302
Motor controller
CAN bus
P07202
Motor module(s)
Push Button Kill switch
PC104 enclosure
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PC104 standard technology is designed for limited space applications
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Compact (3.6 x 3.8 in)
Rugged and reliable connectors
Low power consumption (1-2watts per module)
PC104 enclosure is designed for hostile and mobile environments
Shielded wiring will be used to prevent coupling of electrical noise
Connection terminals will have locking mechanism to improve robustness
Kill switch is used in case of an emergency
Power Board Concept
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Motor modules will be self-regulated
The power distribution board will provide 5V and 12V to the PC104 stack
Features:
• Over current protection to onboard electronics
• Voltage surge protection
• Provide regulated aux outputs ( two 12Vdc and two 5Vdc line)
• Its scalable by ‘stacking’ additional power boards
SOFTWARE & USER INTERFACE CONCEPT
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PC104 SBC OS
LAPTOP OS
User inputs/
Coordinates
Labview
GUI
General
Hyperterminal
RS232
(command set)
Platform
command
intrepertation
&
Navigation
Motor
controller
software
CAN bus
17 motor
commands
Motor
Module
software
Bill of Materials
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• Budget Risks
– Mitigation: Use RIT resources and order
Samples to avoid purchasing minor
components such as fasteners & resistors
Risk Assessment
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Motor Module (P07202) Requirements
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• Current 45A w/spikes up to 82A
• Heat 300F
Mitigation:
 Use heavy-duty wiring
 Design frame and Thermal Analysis
Test on Tube Inserts, Bolts and Connectors
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Mitigation:
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Center of Gravity
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Mitigation:
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Mitigation:
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Use RP-100 Power Board to provide regulated voltage.
Batteries
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Budget
Battery Life
Mitigation:
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Payload constraints implemented
Turning radius and speed of the platform restricted.
Non-deliverable Power Board of the Motor Controller team (P07302)
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Impact analysis
Vibration analysis
Negotiate with P07202 Motor Module team
Battery Life monitored by battery indicators.
Kill Switch Design and Capability
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Mitigation:
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Standard red mushroom-shape
Placed between the two 12 Volt Batteries connected in series
State of Design
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 Status
 Budget
 Performance
 Status of Systems
 Motor Control System
 Data Acquisition System
 Motor System
 Needs
 Specifications
 Open Source
 Scalability - 1000kg
Project Timeline
4/15/2007
Function & Performance
Review
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2/23/2007
Milestone Description
(Current Phase: Detailed Design)
1/12/2007
Engineering Specifications
12/22/2006
Customer Needs
2/16/2007
Design Review
1/19/2007
Concept Review
4/7/2007
Tech. Paper
4/26/2007
Website
5/5/2007
Poster
3/23/2007
Detailed Design Review
5/14/2007
Final Review
12/15/2006
Project Schedule
12/4/2006
5/18/2007
1/1/2007
Planning
Concept Generation
Dec - Dec
Dec - Jan
2/1/2007
3/1/2007
Sys-Level Design Detailed Design
Jan - Feb
Feb - Mar
4/1/2007
5/1/2007
Testing & Refinement
Mar - May
Prototype Fabrication
3/22/2007 - 4/18/2007
Testing
4/18/2007 - 5/16/2007
Project Starts - PRP
MSDI Ends
MSDII Ends
12/4/2006
3/2/2007
5/18/2007