WinroboWinroboThe automated The automated

windowwindow--washing robotwashing robot

� Faculty advisor – Nick Repanich

Jared HamiltonJared Hamilton

(MECA)(MECA)

Yannick de AlwisYannick de Alwis

(MECA)(MECA)

Stephen OtisStephen Otis

(MECA)(MECA)

Domonic ScismDomonic Scism

(MECA)(MECA)

Team MembersTeam Members

Problem StatementProblem Statement

•• Clean difficult to access windowsClean difficult to access windows

•• Automate window washingAutomate window washing

•• Helping people with disabilities to clean hard to Helping people with disabilities to clean hard to

reach windowsreach windows

• ASME 2008 Student Design Competition

•• HHome owners, commercial cleaners, disabled people

CustomerCustomer

Device FunctionDevice Function

�� Device is placed in lower Device is placed in lower

leftleft--hand corner of hand corner of

windowwindow

�� Cleaning operation starts Cleaning operation starts

with the simple push of a with the simple push of a

buttonbutton

�� Device autonomously Device autonomously

removes dry erase removes dry erase

marker dots on one side marker dots on one side

of the window (upper of the window (upper

and lower panes)and lower panes)

Quantitative RequirementsQuantitative Requirements

�� Must remove 90% of dry erase dots, on one side onlyMust remove 90% of dry erase dots, on one side only

�� Must finish in < 5 minutes, including setup timeMust finish in < 5 minutes, including setup time

�� Must weigh < 1 kg when charged with cleaning fluidMust weigh < 1 kg when charged with cleaning fluid

�� Must carry 50 ml of cleaning fluid (water)Must carry 50 ml of cleaning fluid (water)

�� Must be battery powered, 24 V battery maxMust be battery powered, 24 V battery max

�� Must clean 2 window sides per chargeMust clean 2 window sides per charge

�� Must be < 600 x 800 x 300 mm when ready to operateMust be < 600 x 800 x 300 mm when ready to operate

�� Must only touch the glass and surfaces within 25 mm of Must only touch the glass and surfaces within 25 mm of

the glassthe glass

Qualitative RequirementsQualitative Requirements

�� Must wash window autonomouslyMust wash window autonomously

�� Must be able to survive fall from windowMust be able to survive fall from window

�� Must have a simple user interfaceMust have a simple user interface

�� Must clean various sizes of windowsMust clean various sizes of windows

�� Must have a safety cord preventing it from falling 2 feet Must have a safety cord preventing it from falling 2 feet

below the middle of the lower window panebelow the middle of the lower window pane

�� Must have a Must have a ‘‘safety proceduresafety procedure’’ that causes the system to that causes the system to

remain on window when voltage drops below safe levelsremain on window when voltage drops below safe levels

�� Must return to starting point when finished cleaningMust return to starting point when finished cleaning

�� Must not damage window while cleaningMust not damage window while cleaning

Final Solution Final Solution -- CruiserCruiser

� Differential drive

robot

� Autonomous

operation

� Closed-loop motor

control

Final Solution - Cruiser

� Sliding teflon

vacuum seal

� 2-axis window

transfer system

HardwareHardware�� ElectronicsElectronics

�� Atmel AT90S8535 microcontrollerAtmel AT90S8535 microcontroller

�� GMGM--3 DC motors3 DC motors

�� MC33887VW amplifierMC33887VW amplifier

�� MLX90316 magnetic encodersMLX90316 magnetic encoders

�� LithiumLithium--ion prototype 3.7V batteriesion prototype 3.7V batteries

�� Consumer vacuum pumpConsumer vacuum pump

�� SensorsSensors

�� MPXV7002 pressure sensorsMPXV7002 pressure sensors

�� ADXL202E accelerometerADXL202E accelerometer

�� Pneutronics threePneutronics three--way solenoidsway solenoids

FabricationFabrication

�� BodyBody

�� Delrin plastic Delrin plastic

�� CNC fabricationCNC fabrication

�� OtherOther

�� Aluminum rods Aluminum rods

and bracketsand brackets

�� Delrin gearsDelrin gears

�� Small plastic Small plastic

water bottle for water bottle for

cleaning fluidcleaning fluid

Drive system

� Closed-loop PID control on 4 axis

� Low cost control system

� Lightweight power supplies� 3.7v battery weighs 22g each

Pneumatics

� Low cost pneumatic pump and valves

� Closed-loop vacuum control

� Sliding seal

� Collapsible piston seal

ASME CompetitionASME Competition

�� Device met qualifying requirementsDevice met qualifying requirements

�� Placed secondPlaced second

Test ResultsTest Results

Durable Fail

Simple User Interface Pass

Clean Various Size Window Pass

Remove 90% Dots Pending

Finish < 5 min Pending

Carry 50ml Water 50ml Pass

Safety Cord Pass

Weight < 1kg 998g Pass

< 24V Battery Supply 11.8V Pass

Clean 2 Window Sides Pending

Size Requirements

Height < 600mm 206mm Pass

Width < 800mm 289mm Pass

Thickness < 300mm 105mm Pass

Only Touch Glass Surface Pass

Unique ChallengesUnique Challenges

�� Teflon seal durabilityTeflon seal durability

�� 5 week development time5 week development time

�� Backlash in gear systemBacklash in gear system

�� Electronic integration Electronic integration

�� Wire managementWire management

�� Electrical noise (accelerometer)Electrical noise (accelerometer)

�� PID update frequencyPID update frequency

Final BudgetFinal Budget

�� Labor:Labor:�� $35.04 /hr$35.04 /hr

�� 40% overhead40% overhead

�� Final CostsFinal Costs�� $188.82 per person $188.82 per person ($100 budgeted)($100 budgeted)

�� Total w/ Labor:Total w/ Labor:

�� $49,811.27$49,811.27

Item Cost Motors $ 33.53

Encoders $ 54.57

Processors $ 150.00

Pressure Sensors $ 30.00

Accelerometer $ 5.00

Batteries $ 96.00

Charger And Adapter $ 26.00

Electrical Components $ 13.00

Pumps $ 20.00

Polymers $ 49.00

Foam/Felt, Tubing, Teflon $ 116.07

Aluminum Plate/Shaft $ 70.49

Wheels $ 21.83

O-rings, Roll Pins $ 23.00

Hardware, Grease $ 31.78

Mill Bit $ 10.00

Sand Paper $ 5.00

Supplies Total $ 755.27

Labor $ 35,040.00

Overhead $ 14,016.00

Grand Total $ 49,811.27

Production Cost Estimate

Component Quantity Cost Total

Motor 3 $3.00 $9.00

Encoder 3 $2.00 $6.00

Amplifier 4 $5.00 $20.00

Pump 1 $5.00 $5.00

Processor 2 $2.00 $4.00

Batteries 3 $5.00 $15.00

Hardware 1 $5.00 $5.00

Plastics 1 $5.00 $5.00

TOTAL $69.00

Demo VideoDemo Video

Demo VideoDemo Video

ConclusionConclusion

�� Final SolutionFinal Solution�� Successfully developed proof of conceptSuccessfully developed proof of concept

�� Demonstrated key technologiesDemonstrated key technologies

�� Performed at competitionPerformed at competition

�� Potential commercial product pending further developmentPotential commercial product pending further development

�� Prof. Nick RepanichProf. Nick Repanich

�� Prof. Dale WordProf. Dale Word

�� Prof. Daren OttenProf. Daren Otten

�� Mike RenwickMike Renwick

�� ASME Chico ChapterASME Chico Chapter

�� CSU ChicoCSU Chico

Acknowledgements