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