IRIS ESPL Robotic Kits Lunabotics 9.15

8/3/2019 IRIS ESPL Robotic Kits Lunabotics 9.15

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ILLINOIS ROBOTICS IN SPACEESPL, Intro Robotics Kits, NASA Lunabotics

9.15.2011


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ESPL Safety, Training, Working, and Forms

Illinois Robotics In Space

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9.15.2011

Pete Hetman, ESPL Supervisor

General Lab and Electrical Safety online courses Required training to use any tools/equipment General Rules Machine Shop Rules

Training sessions Purchase safety glasses Clean up when youre done Keep things neat and organized Safety Officer


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Introductory Robotic Kits


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Twin Motor Gear Box

Two DC motors & gears in a compact unit.Provides full forward-reverse-left-right

action. Select from two different ratios:fast 58:1 or strong 203:1.

Get to know the benefit of gear reductionand make a gear box works in action.


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Adjustable Power Supply

Adjustable positive / negative supplies: 5to 15VDC, 175mA to 750mA per supply

48-piece kit and PC board construction

Get hands on experience with powerelectronics

Potential to be used in future projects


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1A Power Supply

Provides a regulated voltage, adjustablebetween 1.5 and 35 volts at 1 Amp.

The LM317 regulator get remarkably

better ripple and regulationcharacteristics.

Learn to use regulator to adjust voltageand current


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Function Generator

A single-board assembly incorporating thebasic circuit necessary for a sine, squareand triangle wave generator of high

stability and accuracy that may beamplitude and frequency modulated.

Practice generating arbitrary waveformand to use them as input.


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Robotic Arm

A robotic arm with a griper and a largerange of movement.

No Soldering Required.

Get hands on experience with assemblinga robotic devices and make it to do coolthings

Further modification may allow roboticarm to play chess or checkers. Talk to

Nikhil Agarwal for details.


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RC Titan Tank

Infrared remote controlled combat robot

Quick and easy assembly no solderingrequired

6 Wheels which can move the tankforward, backward, right and left

Learn to interact with a robot via wirelesscommunication and visualize the pros andcons of wheels


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RC Bulldozer

Bulldozer robot base with a wired remotecontrol.

Carry several hundred grams of payload.

Get hands on experience with weightcarrying robot

See the benefits and limitation of tracks inaction


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Coaster Robot

A robot that has the ability to navigate aspace on its own, avoiding obstacles.

Has the ability to have additional sensorsystems (proximity, heat, light, sound,etc.) added "on top" of this base behavior.

Run on any platform that YOU build

Experience pulling everything together to

create an autonomous robot


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Twin Motor Gear Box

RC Bulldozer

Adjustable Power Supply1A Power Supply Robotic Arm

Function Generator RC Titan TankCoaster Robot

Which one interests you?


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NASA Lunabotics Mining Competition


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Lunabotics 2011 Highlights!
https://www.youtube.com/watch?v=2ynx4CbbFCUhttps://www.youtube.com/watch?v=2ynx4CbbFCU


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Missions:

To conceive, design, build, test, and compete with aremote controlled or autonomous excavator, calleda lunabot, that can collect and deposit a minimumof 10 kilograms of lunar simulant within 10

minutes.

Document studies in a Systems Engineering paper.

Learn about the entire process that goes intocreating your own robot, and then put your

knowledge to use!

Teach others about what weve learned.


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Complexities:

You didnt think it was going to be easy, did you?

The abrasive characteristics and adverse

properties of the lunar regolith simulant The weight and size limitations of the lunabot

The ability to control the lunabot eitherautonomously or from a remote control center


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Scoring:

In addition to amount of regolith collected, points awardedwill be based on:

Dust tolerance and projection

Communications / data transfer

Vehicle mass

Energy / Power required

Level of autonomy


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What do these mean to me?

Must protect sensitive equipment (bearings, motors,electronics, etc.) from the fine, abrasive particlesthat make up the regolith.

Must have sufficient power to dig, lift, carry, anddeposit regolith.

Must design within our limitations, and be able toaccount for miscellaneous additions or designchanges later in the game.

Must have equipment and programming necessaryto operate the lunabot remotely without direct

audio/visual (i.e. pretend like youre operatingsomething on the moon).


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Regolith properties (simulant BP-1)

This is NOT like sand or dirt. NASA would not havea competition if regolith were very similar to eitherof these.

Formed by impact of large and small meteoroids in

addition to high speed micrometeoroid barrages. Microscopic sharp, angular particles very

frictional!

Magnetic in nature (contains a small amount of

iron) Sticks to everything, causes malfunctions in moving

parts and poor readings from optical equipment.


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Design constraints:

Max mass: 80kg

Max dimensions: 1.5m L x .75m W x .75m H

Must be able to navigate around/over obstacles

2 Craters: .3m deep, .3m wide

3 Boulders: .2m to .3m in diameter, 7kg to 10kg.

Time limit: 10 minutes

Collection bin is located 1m above surface ofregolith

+ More detailed rules for sub-teams (researchthese!)


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The Arena


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The Sub-Systems (from last year)

o Robotic Arm and Mechanics

o Electrical Power

o Sensors, Comm, and Controls

o Structures and Chassis


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Robotic Arm and Mechanics

Overview: Excavation mechanism(s) Transfer mechanism(s) (collector-> dump) Dump mechanism(s)

What you can do: Trade studies on different excavation, transfer, and

dump techniques CAD and analysis Dynamic simulations

Fabrication and assembly of dynamically interfacingcomponents


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Robotic Arm and Mechanics

What we did last year: Modeled and created gear boxes High RPM metal sweep-> conveyor belt

-> dump -> collector Lots of low tolerance machining

Challenges faced last year: Need more man power! Interfacing between components Insufficient power for optimal RPM of motors

Very tight tolerancing


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Electrical Power

Overview: Provide power to other subsystems Implement emergency stop circuitry for safety Determine requirements of subsystems (voltage,

nominal and max current, terminals)

What you can do: "Trade studies" on the other subsystem

components/terminals Be a robot electrician

Determine the power behavior of the system - start up,nominal running, emergency stop


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Electrical Power

What we did last year: Implemented a transistor-based emergency stop Use a power inverter to supply power to onboard

computer built for 12V, later expanded up to 36V Analyzed load from motors, determined their start up

and running behaviors

Challenges faced last year: Over-current - implement circuit breakers Emergency stop not robust - go to physical vs.

electronic switches (relays vs. transistors) Difficulty figuring out which components were actually

being used better communication


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Sensors, Comm, and Controls

Overview: (All electronics except batteries) Communication - How does the user connect to the

robot? Control - How do we control the robot or how does it

control itself?

UI - How do we interface with these systems?

What you can do: Develop code Integrate sensors

Create the brain of the robot Control what it does and how it does it

b


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Sensors, Comm, and Controls

What we did last year: Used Windows 7 Basic (Shifting to Linux) Setup wifi for connection Remote Desktop (Possible Custom GUI) Servo Center to Control Motors through motor

controllers (switching to arduino)

Challenges faced last year: Network Connections - Getting Connected Servo Controls - Buggy Software

Large Overhead (Windows -> Linux)

NASA L b i Mi i C i i 9 15 2011


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Structures and Chassis

Overview: Main body that houses electric and mechanical

component Locomotion system that provide momentum for the

robot

Integration to the mechanical arm responsible for thewhole mining and dumping operation

What you can do: CAD and Analysis

Simulations Fabrication Interfacing

NASA L b ti Mi i C titi 9 15 2011


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Structures and Chassis

What we did last year: Conceptual sketches (high chassis vs. low chassis) Preliminary CADing and configuration *(fig Treads

Render) Finalizing concept and configuration

Analysis and optimization of individual dimension andcomponent Final Layout and blueprint Manufacturing

Challenges faced last year: Slow progress during first semester (not enough data

had been collected). Need more analysis for justification of the design Manpower for manufacturing!



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Systems Engineering

Combining all of these things and managing theiroverall development

Interface definition Risk Management and Mitigation Documentation Scheduling and Meetings Overall leadership

And of course,

COMMUNICATION



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Start thinking about

Which sub-system do you want to be involved in? Do you want to take on a leadership role? What ideas do you have for a new robot? What ideas do you have for new sub-systems or any

restructuring of the sub-systems?

We will be having general sign-ups for thisproject soon! (In the next two weeks) Leadership definition will come after that Let us know ASAP if you are interested in being a

leader!

NASA Lunabotics Mining Competition 9 15 2011


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Take-aways:

ESPL Safety Quizzes and Forms

Sign-ups for Robotic Kit Projects (Now or via e-mail) Due by Tuesday (9/20) at 5:00pm

Read up on Lunabotics(www.nasa.gov/lunabotics)

Look into different sub-systems Do you want to lead?

NASA Lunabotics Mining Competition 9 15 2011
http://www.nasa.gov/lunaboticshttp://www.nasa.gov/lunabotics


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IRIS ESPL Robotic Kits Lunabotics 9.15