Autonomous Ground Support Equipment Project WALL-Eagle Overall AGSE Concept Overall AGSE Concept AGSE Payload Hatch Payload Hatch Function
Seals payload bay during flight Hatch opens and closesautonomously with amicroservo Guides robotic arm intopayload bay Payload Access Plate and Positioning
Single access plate revolves onhinge Hinge operates withmicroservo Will allow remote opening andclosing Optical markers to guiderobotic arm Payload Access Plate and Positioning
Single access plate revolves onhinge Hinge operates withmicroservo Will allow remote opening andclosing Optical markers to guiderobotic arm Payload Hatch Animation AGSE Payload Capture & Transport Robot Arm Capabilities
Needs at least 4 degrees of freedom Controlled by central master-controller Detect Payload via IR sensors Backup: Navigate to predetermined location Be able to lift 4 oz. payload Navigate over payload and rocket hatch Fabricated vs. Purchased
Fabrication Advantages: Customizable for any purpose Cost-effective Deep subsystem educationalmerit Unique and original High scientific merit Purchase Advantages Commit team-member timeelsewhere High-performance Reduce risk of subsystemfailure Compensate for lack of team- member experience Customizable parts High scientific merit Decision: Purchase Robot Arm
Chose to purchase commercially available arm. High performance, legacy, and affordabilitywarrant purchase of arm. Arm like Lynxmotion AL5B or AL5D possiblechoices. CrustCrawler AX-12A Smart Robotic Arm
~22 maximum reach 5-6 degrees of freedom Most value and capabilities for the price Completely customizable Price - $830 CrustCrawler AX-12A Key Features
1mbs serial communication protocol Dual actuator design in the shoulder and wrist axis for maximum lifting capability (2 to 3 pound (.907kg to 1.36kg) Fully ROS,MATLAB,LABVIEW Compatible! Rugged, all aluminum construction for maximum kinematic accuracy (1mm - 3mm) Hard Anodized finish for maximum scratch and corrosion resistance Compatible with ANY micro-controller/computer control system / programming Language (Open Source!) The only robotic arms that feature feedback for position, voltage, current and temperature Smooth, sealed, self lubricating ball bearing turntable Fully adjustable initial base angle (3) integrated mounting tabs for easy mounting to a fixed or mobile base (5) Gripper options to choose from Full control over position (300 degrees), speed, and torque in 1024 increments Automatic shutdown based on voltage or temperature with status indicator LED Sensor engineered gripper design accepts, pressure sensors, IR detectors, CCD cameras and more! Robot Arm Gripper Requirements
Able to hold cylindrical payload Support 4 oz. weight Reach ground/reach payload bay Able to rotate at the wrist Able to sense that payload has been obtained The Big Grip Kit from the CrustCrawler AX-12A seriesrobotic arms meet criteria plus more IR Sensors Affixed to front of grabber, scans dark ground(grass/dirt) for light surface (payload). Arm engages payload once detected. If payload dropped, search and capture of thepayload may be repeated until mission success Contingency: Preprogrammed Location
Use preprogrammed location of payload in caseIR sensors plan doesnt work out Can choose location of payload, so staticcoordinates suffice Easier, but will cause launch failure if payloaddropped AGSE Launch Rail and Truss AGSE Truss Constructed out of durable carbon fiber
Designed to support the fullweight of the rocket Connected to two electric gearmotors Rotates from horizontal to 85 Returns to horizontal afterrocket launch AGSE Truss Bottom is counterweighted to ease lifting
Measurements ensure bottomdoes not contact the ground Rocket attached to truss viaslotted rails Attachment rails double aslaunch rails ensuring launchstability Truss will lock in verticalposition once erect AGSE Truss In launch position, blast shieldprotects sensitive components Igniter insertion systemextends into motor Rocket is then ready forinspection Once inspected, rocket is readyfor launch AGSE Igniter Insertion System Igniter Insertion System
Toothed insertionsystem DC electric motor drivesthe tooth extender intothe mast Initiated with a programthat is linked to theAGSE controller Igniter Insertion System
Located 6-8 inchesbelow the base ofthe rocket. Main motor isprotected by theblast plate Rise through awhole in the blastplate to access therocket Igniter Insertion System
Extension of 21 inches Igniter pause at fullextension E-match attached to tipof the insertion systemis in contact with motor Inspection and armingof the rocket Countdown ensues,followed by blast off Igniter Inserter System Master Microcontroller and Full System Operation Master Microcontroller
Single microcontroller drivesall AGSE functions Simplifies design Minimizes risk Eliminates communicationbetween multiplemicrocontrollers Arduino mega or comparabledevice used Subsystem Connectivity
All autonomoussystems connectedthroughmicrocontroller Only launchcontroller handledindependently Single start, pause,and reset switches Nominal AGSE Process Start command received
Robotic arms commanded tofind payload Arm deposits payload in rocket Payload bay hatch closes Launch rail raised Igniter inserted Sequence pauses Launch button depressed Rocket launches AGSE Flow Chart System inspected prior to launch
In some cases it is possible toreset and re-run sequence inan error has occurred Risks Power Failure Programming Errors Equipment Assembly Errors
Component SynchronizationFailure Sequence exceeds allotted time(10 minutes) System unresponsive Damage from environment(humidity, rain) Test Plans Full system test (normal conditions) Off-design rocket mass
Off-design payloadconfiguration Partially drained batteries Power failure during AGSEsequence Dropped payload