PANTHERBOT TOOL CHANGER

MAE 4193 – Mechanical Design 1Project Review Presentation

Jameson L. Tai William Rae Justin Nunn

In Partnership with All logos in this presentation is courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech Office of Creative Services.

Introduction

Project Background Design Objectives Design & Analysis Detailed Drawings Fabrication and Testing Plan Budget Team Organization Scheduling Conclusion

Project Background

The PantherBot, also known as the PowerBot made by MobileRobots, Inc., is a multifunctional robot autonomously mapping

terrain equipped with sonar and laser

range finder robotic arm fitted with a

parallel gripper and webcam has a 802.11b WiFi antenna

for wireless communications(Image Source: RASSL)

(Image Source: RASSL)

Project Background

This team will create an autonomous tool changer such that the PantherBot will be able to perform the following functions inside the Olin Engineering Complex: Open doors via twisting door handles Open front door via pressing the handicap

accessible button Press appropriate buttons to recall and

operate an elevator

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Project Background

Design Objectives

Safety of people, building and robot Functional tools for tasks Autonomous tool changes

Positive control of tools Secure storage

Store tools away from sensors and access areas

Design and Analysis Plan

Combination of CAD and physical prototypes

CAD 3D models allow testing of mechanisms Test designs for fit and easily produce

drawings Prototyping

Evaluate concepts with real world interactions

Low cost testing

Design and Analysis Plan

CAE Direct import of CAD models for

structural testing Find areas of weakness and

excessive strength Determine forces exerted on

components in normal operation

Design and Analysis Plan

Material Selection Cost, Strength, Machineablilty,

Surface Finish Priority goes to Cost and Surface Finish

due to the fact that our machined components are simple and exposed to relatively small forces.

A major project goal is ensuring that all components meet the visual standard of the existing robot

Drawings

Tool 1 Video

Drawings

Drawings

Tool 3 Video

Drawings

Holder Video

Analysis

Analysis

Tool 2 Analysis Video

Analysis

Fabrication Plan We will fabricate parts through

Building 538 (Machine Shop)

We will obtain reasonable off-the-counter parts if it is more cost effective to purchase the part than to produce in-house, such as bearings.

Testing Plan We have set aside a budget for a testing rig,

which will provide a viable test platform Opening doors Pushing door panel button Pushing elevator buttons

The testing platform will provide feedback to the team regarding the repeatability of the tools, ease of operation, and storage functions.

Also, it will help determine if there are any problems with the tools before the PantherBot performs the predefined functions inside Olin Engineering Complex.

Organizational BreakdownJameson L. Tai(Team Leader)

ResearchJustin Nunn

DesignWilliam

Rae

AnalysisWilliam

Rae

FabricationJameson L.

Tai

TestingJameson

L. Tai

FinancesJustin Nunn

Project Timeline

Research

Project Review Presentation

Design Research

Preliminary Design Review Presentation

Preliminary Design Review Report

Machine Shop Training

Robot Training

Design Research

Final Presentation

Final Report

Prototype Fabrication

Prototype Testing

Final Design Fabrication

Final Design Testing

Start Date

Completed

Remaining

Project Timeline

Fall 2008 Complete research in door opening techniques

Pushing door (September 2008) Pulling door (September 2008)

Present tool design (October 2008) Present tool changer rack design (October 2008) Preliminary Design Review

Presentation (22 October 2008) Report (22 October 2008)

Analysis on tools and tool changer (November 2008) Final Presentation (03 December 2008) Final Report (03 December 2008)

Project Timeline

Spring 2009 Fabrication (February 2009) Testing (March 2009) Showcase (April 2009)

Material Selection Chart

Minimum of three sources used for pricing Lowest price used for comparisons

Multiple types of materials researched for each part Typically common materials were researched

as these are easiest to find Weight factors vary for every part based

on what is needed

Material Selection ChartSolid metal block Overall Rating

Design Requirements Selection Factors (1*A+5*B+4*C+3*D+2*E)

/18

Yield strength

(kpsi) Surface Finish

Cost/unit volume (in^3)

Machinability (%) Availability

Abs Rel Abs Rel Abs Rel Abs Rel Abs RelAl 5052-H32 34 0.85 80 0.8 40 0.8 0 0 0.447222222

Al 3003 24 0.6 60 0.6 45 0.9 0 0 0.4

Al 6061 35 0.875 100 1 0.802 1 50 1 10 1 0.9375Stainless Steel (304) 40 1 85 0.85 7.17 0.111855 27 0.54 9 0.9 0.586523322Steel (1018) 32 0.8 80 0.8 1.37 0.585401 35 0.7 10 1 0.718978102Carbon Fiber 50 0.5 15 0.3 0 0 0.205555556

Budget Overview

Prototyping will be done with low cost easily machined materials Materials such as plywood and cardboard

are examples of such materials Test Stand will be built out of low cost

materials that accurately portray school facilities To save money we are trying to work with

facilities to get parts such as a door handle

Budget Overview

Final design will be constructed from materials such as aluminum and steel To save money we will be attempting to get

donations for the material we require, as well as use left over material from previous years

Coatings will be required to prevent damage to both the robot and to the school facilities Coatings will most likely be made out of

rubber or plastic

Budget Overview

Our current budget was developed without consideration of possible donations

Design changes might drastically change what is required A small buffer was made in the budget

to compensate for this

Budget Test Stand Hardware $ 150 Shop Materials/Metals $ 400 Bushings/Bearings/Shafting $ 100 Surface finishing $

50 Prototyping $ 100 Miscellaneous Hardware $ 50 Total Budget $ 850

Conclusion

We have completed our design process and are currently working on analysis and optimization.

We have conducted initial cost analysis based on material selection charts and component availability.

We are on-schedule according to our Gantt Chart and will expect to complete the project on time by April 2009.

Questions?