Upload
sara-barker
View
217
Download
3
Tags:
Embed Size (px)
Citation preview
Treeboard MutineersVEX Robotics Competition
Austin Crawford
Nicole Grieble
Ericson Magsombol
Overview
VEX Clean Sweep Rules Robot Tasks 12 Step Design Process Competition Outcome Conclusions
Table of Contents
Title Slide Number
Problem Statement
Background-Robot
Background-Competition
Deliverables
Scope
Timeline
Criteria and Constraints
Brainstorming
Research and Generate Ideas
Explore Possibilities
Select An Approach
Test Plan
Work Process
Bill of Materials
CAD Drawings
Prototype
Testing & Monitoring
Refining
Competition
Changes to Make
Summary
Lessons Learned
Problem Statement
The goal is to construct a robot within the VEX Clean Sweep competition’s given
guidelines using VEX products and ultimately go to a competition and score
the most points.
Background - Robot
First Robot (1938) By Willard Pollard and Harold Roselund Sprayed Paint
Manufacturing Demonstration MIT Servomechanisms Lab (1959)
Regularly Seen 1980’s
Background- VEX Competition
Deliverables
Robot VEX Competition
Engineering Notebook Mrs. Brandner
Powerpoint & Final Report Mr. Pritchard
Scope
Parts Device to move the robot Device to lift balls Device to hold balls
Materials VEX Protobot Kit VEX Booster Kit VEX Power Pack
Resources CAD- Mr. Cotie Technical- Mr. Pritchard Calculations- Mrs. Brandner
TimelinePlan Date Act. Date Who Task
Start Comp Start Comp
11/17/09 11/18/09 11/17/09 11/18/09 Nicole Problem Statement
11/18/09 11/20/09 11/18/09 11/20/09 Ericson Background
11/19/09 11/20/09 11/19/09 11/20/09 Nicole Deliverables
11/20/09 12/01/09 11/20/09 12/01/09 Austin Scope Statement
11/30/09 12/01/09 11/30/09 12/01/09 Nicole/ Ericson Timeline
12/01/09 12/04/09 12/01/09 12/04/09 Crew Identify Criteria and Constraints-Select main 2-4 customer
requirements.
12/04/09 12/06/09 12/07/09 12/07/09 Crew Brainstorming-Create a large, generic list of areas that
need more research.
12/06/09 12/08/09 12/07/09 12/08/09 Crew Brainstorming-Get more details in select areas
that are more important.
12/08/09 12/14/09 12/09/09 12/15/09 Crew Research and Generate Ideas-Research the selected areas.
12/14/09 12/18/09 12/09/09 12/17/09 Crew Research and Generate Ideas-Based off research, create
preconceptions that may help the project.
1/04/10 1/15/10 2/10/10 2/16/10 Austin/Ericson Explore Possibilities (requires hands on time)-
· Experiment new ideas with VEX parts.
· Create sketches. · Develop strategies.
1/18/10 1/20/10 2/17/10 2/17/10 Nicole Select an Approach-
Using criteria screens, pros cons, etc...
1/21/10 1/22/10 1/26/10 1/27/10 Nicole Design Proposal- Test Plan-Based off criteria and constraints, develop test criteria the robot must
succeed in accomplishing.
1/25/10 2/12/10 Austin Design Proposal- Work Process-Based off the test plan, generated ideas, and explored possibilities,
develop a robot that meets all these needs and expectations.
2/12/10 2/19/10 2/02/10 2/03/10 Nicole Design Proposal- Bill of Material-Basically list cost of all materials
used.
2/12/10 2/19/10 Ericson Design Proposal- Detailed CAD Drawings-
Create detailed 2-D and 3-D drawings.
1/15/10 3/01/10 2/01/10 3/26/10 Crew Prototype-Finish designing and building the
prototype.
3/01/10 3/15/10 3/26/10 3/26/10 Crew Testing and Monitoring-Complete the test plan to be sure
all criteria are met.
3/01/10 3/19/10 3/26/10 3/26/10 Crew Refining-Based off results of the testing, refine the design to meet criteria easier, faster, more accurately,
etc…
3/19/10 3/19/10 3/19/10 3/19/10 Crew + Mr. P. Packing EVERYTHING
3/12/10 3/19/10 3/26/10 3/26/10 Crew + Mr. P. Notebook Finalize
3/27/10 3/27/10 3/27/10 3/27/10 Crew + Mr. P. Competition At Batavia
3/29/10 4/23/10 3/30/10 Crew Final Report and PowerPoint Finalized
4/30/10 4/30/10 Crew Final Report and PowerPoint Due
5/03/10 5/06/10 Crew Presentations
Criteria and Constraints
VEX Rules and regulations1. Only one robot2. Must pass full inspection3. Cannot damage other robots4. Must be within 18” x 18” x 18”5. Only made from official VEX parts6. Up to 10 motors/servos7. Can only use one battery8. On/off switch accessible without moving robot9. Up to two controllers
Brainstorming
Things to research Competition Existing Robots VEX Parts
Design Ideas Vacuum Sweeper Lobster Claw
Research
Robot Motors
High Torque Gear Ratios
Wheels High Traction
Structural Framing Solid Aluminum
Generate Ideas
Existing Designs Scoopers
Slide under balls rather than grabbing Highly Effective “Garbage Truck” Design
Containers “Pick-up Truck” and an Incline “Garbage Truck” dumped over the wall
Pushers Difficult to manage balls Gets wedged under robot
Explore Possibilities
Austin’s SolutionPro Con
Fits dimensional constraints
Large gaps in claw for balls to fall through
Bucket placed strategically to dump balls easier
Possible problems in moving balls from claw to bucket
Simple in design and has good structure
Claw is too long
Eric’s SolutionPro Con
Fits dimensional constraints
Lots of motors needed
Strong frame and stable connections
Wide Steering Radius
Bucket doesn’t need a motor
Small claw, not able to hold many balls at once
Nicole’s SolutionPro Con
Uses a small amount of VEX parts
Can only pick up one ball at a time
Efficient for dropping balls over middle wall
No storage space for balls
Can knock standing balls off of middle wall
Not very strong
Select An Approach
Eric’s Design was chosen Some changes were made
Most efficient out of the three Very stable Fits within dimensions
Test PlanTest Criteria How Tested Expected results Actual Results
One Robot Make sure all parts are connected to one unit
We will only have one robot
Must be 18”x18”x18” Measure the robot The robot fits the requirements
Only VEX Parts Inventory every piece used and make sure it corresponds with VEX parts
Our robot will only contain VEX parts
Only one Microcontroller
Count how many microcontrollers we are using
We will only have one microcontroller
Ten or less motors or servos
Count the servos and motors
We will have under ten motors and servos
One 7.2V Robot Battery Pack or the VEX Power Expander, and a 9V backup battery
Count the batteries that are being used and make sure they fit the requirements
We will either have one 7.2V Robot Battery Pack or the VEX Power Expander, and a 9V backup battery
Up to two handheld controllers
Count how many controllers are being used
We will have only one handheld controller
Access to on/off switch without moving robot
Turn the robot on and off without moving the robot at all
We will be able to turn the robot on/off without moving the actual robot
Move balls over to the competitors side
Replicate the wall that will be used in the competition and then use the robot to move balls from one side to another
Will be able to move balls
Make sure all parts are secure
Shake Robot and make sure nothing comes off
Nothing comes off
Obtain a high score Practice using a practice field
50+ points
Work Process
Movement Frame1. Left Side
1. C-Channel Assembly
2. Left Wheel Assembly
2. Right Side1. C-Channel Assembly
2. Right Wheel Assembly
3. Crossbars
Work Process
Bin1. Column
2. Holder1. Back Assembly
Claw1. Frame
2. Claw
Bill of Materials
Part Quantity Unit Cost Total Cost
Registration 1 $200.00 $200.00
Protobot Robot Kit 1 $299.99 $299.99
Booster Kit 1 Donated Donated
Power Pack 1 $49.99 $49.99
TOTAL: $548.98
CAD Drawings
Prototype
Testing & Monitoring
Test Criteria One robot used Must be 18”x18”x18” One microcontroller used Access to ON/OFF switch without
touching robot Moves balls to competitor’s side Make sure all parts are secure
Refining
Built our first design Made changes and tested
Competition
Overall Not entirely successful
Our Goals Able to get balls over the wall Successful in this aspect
Observations Beastly Robots Use of programming (autonomous feature) Omni-wheels
Changes to Make
Add autonomous feature Starts off competition good
Add Omni-wheels Enhanced control
Increase walls of bucket area Contains balls better
Summary
Successful prototype and documentation
Good team dynamics
Learned real life competition and business deadline skills
Lesson Learned
Testing repeatedly and refining gives the best product
Can always make improvements to design
The key to success is looking forward