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Steven Rois (ME)
Chris Wakeley (ME)
Andrew Krall (ME)
Kenneth Smith (ME)
Advisor: Prof. George Slack
October 14, 2009
Agenda Mission Statement Stakeholder Needs Objective Tree Project Component Discussion
Chassis DesignSensors/SoftwareMotor ModulesMotor Controllers
Project Roadmap Next Steps Time Table
Mission Statement
To develop a modular robotics platform with scalable components for use in educational and research environments
Stakeholder Affinity Diagram
Objective/Function Tree
Past
Current
2006-2007: RP 100 2007-2008: RP 10
2007-2008: RP1
Second Gen Motor ModulesPlus chassis with integratedMounts for modules, PCBs and sensors
Chassis Progression
P07205 P08201
P09203
Chassis Design
Short-Term Goals Lighten chassis and allow room for internal
wiring Add more mounting locations for motor
modules Develop mounting areas for modular
sensors Add interface between platform and
payload Move PCBs and Batteries below motor
mounts
Future Considerations
BUS system for motor modules Easily manufacture parts from variety of
materials (plastic, Al, Steel …) Alternate power sources Expandable interface to work with
WOCCS and Roving Ambassador projects (P10215) (P10216)
Sensor System
CurrentWheel Encoders
* Current RP1 gen 2 robot is equipped with wheel encoders but no interface has been created to utilize them
Encoder Image courtesy of USDigital.com
Sensor System Future
Navigation○ Encoders○ Proximity Sensors○ Sonar○ GPS○ Inclinometer
Environmental○ Temperature○ Pressure○ Humidity○ Light Level○ Terrain Type
Inclinometer Image courtesy of USDigital.com
Sonar Sensor Image courtesy of trossenrobotics.com
Sensor System Sensor Integration
Universal MountingUniversal Connecting
○ USB?○ Firewire?
Universal Open Source Operation
Auto RecognizingSwappable
Sonar Sensor Image courtesy of emusician.com
Linux Logo Image courtesy of blog.gofaxer.com
Motor Module Progression
P07202 RP100 P07201 RP10 P08208 RP1 Gen 1
P09203 RP1 Gen 2
Past
Current Generation 2 motor module 1/10 the size of 1st generation
Motor Module Needs
Short Term Goals Improve manufacturability Reduce cost to manufacture Integrate with Gen 2 Motor Controllers Improve mounting system
Future Considerations Continue integration with future LV1
platforms Scale to support 10 and 100kg payloads
Motor Control Progression
RP10 Gen 2 RP1 Gen 1
RP1 Gen 2
Past
Current
Short term goals
Merge power supplies Merge microcontrollers Merge DC drivers Conserve space, improve efficiency Integrate with 2nd generation motor
modules, sensors, and chassis Make connections via a wiring harness Reduce costs
Future Recommendations Continue to improve efficiency Integrate effectively with all future
iterations of the other project components
Evaluate any past failures and make improvements
Develop a design that can be scaled and used for any size platform.
2nd Gen Motor
Module
2nd Gen Motor
Control
2nd Gen Platform
Sensors
Software
MSD 10-11
3rd Gen Motor
Modules
3rd Gen Platform
EncoderSonarProxy
Reuse existing software
MSD 09-10
MSD 11-12
Develop software
team
4th Gen Platform
Scale Up for RP10
and RP100
Use final RP1
design in other
projects
08-09 09-10 10-11 11-12
Overall Objectives
Project Road Map
Next Steps
Hold additional stakeholder interviews Finalize customer needs Begin evaluating required resources Begin considering staffing requirements
Land Vehicle Platform DPM Timetable
Acton ItemTimetable
Week 5
Week 6
Week 7
Week 8
Week 9
Week 10
Week 11
Conduct Additional Stakeholder Interviews
Develop Preliminary Customer Needs
Develop Finalized Customer Needs
Evaluate Required Resources
Determine Staffing Requirements
Final Project Readiness Presentation
Attend Relevant MSD Reviews
Project Timeline
References
https://edge.rit.edu/content/P07205/public/Home
https://edge.rit.edu/content/P08201/public/Home
https://edge.rit.edu/content/P09203/public/Home
Questions/Discussion
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