The Goliath tank will participate in a set of events taking place on a maze with an overlaid grid matrix. The first event will be navigating the maze first under remote control then autonomously repeating the same driven route. A second event will involve other robots located within the same maze space. In this event, […]
By:
Piyush Jain (Project Manager)
Zachary Bruyn & Yasin Khalil (Electronics & Controls)
Natalie Arevalo (Manufacturing)
Melwin Pakpahan (Missions, Systems, & Test)
Table of Contents
By: Piyush Jain (Project Manager)
The objective of Project BiPed is to design and manufacture a miniature bipedal robot. The BiPed shall incorporate a Theo Jansen leg design, use a single DC motor and mini servo for walking and turning, and shall use a similar joint mechanism as the 2017 Spring Velociraptor [1].
The model of the BiPed shall use the same principle mechanics as Theo Jansen models, with the design inspired by the 2017 Spring Velociraptor. The difference between the design shall be:
The mission of Project BiPed is to design the BiPed to navigate a predesigned maze [1]. The BiPed shall be able to navigate the maze with user input from the Arxterra App/Control Panel. The BiPed will be able to memorize the user-defined path and will be able to navigate it autonomously. In addition, the BiPed will acknowledge other robots while traversing the maze and avoid collisions.
References:
[1] http://web.csulb.edu/~hill/ee444/2%20The%20Mission.pdf
By: Piyush Jain (Project Manager)
L1-1: The Biped shall be finished by Wednesday, December 13, 2017 [1]
L1-2: The Biped shall not exceed a budget limit of $250.00
L1-3: The Biped Shall be a toy robot.
By: Piyush Jain (Project Manager)
L1-4: The BiPed shall navigate the maze with user-defined inputs.[2]
L1-5: The BiPed shall memorize said user-defined path and navigate it autonomously.
L1-6: The BiPed shall navigate the maze in seven minutes or less.
L1-7: The BiPed shall navigate the maze without colliding into other robots.
L1-8: The BiPed will be controlled by a 3DoT board.
L1-9: The BiPed will be able to walk on cloth, linoleum, and paper.
L1-10: All electronic components shall be able to be disassembled and reassembled within 20 minutes.[3]
L1-11: All 3D printed robot components shall be printed in less than 6 hours, with no single print session taking longer than 2 hours.[3]
References:
[1] http://web.csulb.edu/gobeach/depts/enrollment/dates/registration.html
[2] http://web.csulb.edu/~hill/ee444/2%20The%20Mission.pdf
[3] http://web.csulb.edu/~hill/ee400d/Project%20and%20Mission%20Objectives.pdf
By: Melwin Pakpahan (Missions, Systems, & Test)
L2-1: Operate using the Arxterra Android/iPhone application. This includes navigating the maze, with and without user input, as well as turning and walking. L1-4
L2-2: Have Bluetooth communication which will sync with the Arxterra Android/iPhone application L1-3
L2-3: Be integrated with all the appropriate libraries to communicate with all electronic devices. L1-8
L2-4: Use a gyroscope/accelerometer to help navigate its way through the maze. L1-4
L2-5: Use a proximity sensor to detect and avoid other robots in the maze. L1-7
L2-6: Design the BiPed’s feet size to be approximately 3″ by 2.5″. L1-3
L2-7: Design the BiPed’s hip size to not exceed 3″. L1-3
L2-8: Design the BiPed’s center of mass shifting system to not exceed 5″ in length and width. L1-3
L2-9: Choose a motor which will provide enough torque to support the weight of the BiPed. L1-6
L2-10: Design the BiPed to be less than 1.5 pounds. L1-6
L2-11: Be powered by one RCR123A Lithium Polymer Battery which will operate for a minimum of 10 minutes before recharge.
L2-13: Utilize one mini servo for turning and one for the mass shifting mechanism. L1-6
L2-14: Be wired in a manner which is professional and shall not interfere with when navigating the maze. L1-6
L2-15: Have two leaf springs on each foot, for stability and flexibility of the feet. [1] L1-9
By: Piyush Jain (Project Manager)
Working from the previous semester’s built BiPed chassis, the team came up with potential problems we might encounter. With respect to the customer’s demands, our main problems were turning the Biped, while maintaining a small turning radius, and the static walk, with the feet in close proximity, all while maintaining a proper balance for the BiPed. We decided we would focus on turning the BiPed as that is the biggest challenge. From our creativity exercise, we surmised different methods of turning including : having a 3″ or less turning gears for the hips, having a joint system similar to humans, and removing the turning gear all together and attaching wheels to legs to drive the BiPed through the maze. The first two methods were thought up during the brainstorming approach, while the last one was thought up during the attritube listing. After going over all our options, we decided to design a turning gear which will be less an 3″ because that will give us the greatest control in how the BiPed turns.
By: Piyush Jain ( Project Manager)
Power
The Biped shall be powered by a singular portable CR123A Lithium Polymer Battery. The battery shall power the 3DoT board, 1 DC Motors, 1 Servos, I2C, and the Accelerometer/Gyroscope.
Actuator
The actuators for the BiPed are 1 DC Motors and Servos. The DC Motor will control the leg movement for walking, while the servo will control the turning mechanism.
Communication
The Software for the BiPed will be in C++ and written in Arduino sketch. The code shall control the motor functions and communicate with the Bluetooth module. The module will be controlled via the Arxterra control panel, synched to an Android or iPhone.
Manufacturing
With the chassis prebuilt, we will focus on creating an optimal design for the hip and feet. The hip shall be able to turn with a small turning radius, to fit within the parameters of the maze, while the feet shall be designed to stabilize the structure. In addition, the center-of-mass distribution shall be manufactured as to maintain a center of balance when walking and turning.
PCB
Our design will incorporate two PCB boards. The first will be the 3DoT board, provided by Professor Hill, which will contain the microcontroller and shall control the servos and motors. The second will be the custom PCB board which shall control everything else.
By: Zachary Bruyn (Electronics & Control)
The Microcontroller has inputs of the battery and input sensors. The battery shall power the BiPed and the Input Sensors; accelerometer/gyroscope and proximity sensor help to navigate the BiPed thru the maze. The Actuators; DC motors and servos help to physically move the BiPed. The communication device includes the Arxterra application, control panel, Android/iPhone, and Bluetooth device give the user the ability to control the BiPed.
By: Melwin Pakpahan (Mission, Systems, and Test)
The interface definition shown below defines the pins of the ATmega32U4. The microcontroller has a modest selection of programmable pins to configure. In the future, trade-off studies will be conducted to determine which resources would best suit components and how to configure them accordingly [1]
Reference:
[1] https://www.arduino.cc/en/Hacking/PinMapping32u4
By: Natalie Arevalo (Manufacturing)
The overall design of this semester’s BiPed project can be broken down into four major sections: feet, legs, hips, and center-of-mass shifting mechanism.
The project as a whole can be seen as an iteration of the Spring 2017 Velociraptor project or modification of the Velociraptor project into a BiPed. As a result, the design of the BiPed will be kept as top-heavy however the head-tail component of the velociraptor will be eliminated. Although the body of the BiPed will be kept heavy to keep its moment of inertia small, the weight will be kept confined to the center-of-mass shifting mechanism as well as the servos and motors. In addition, stability in the legs and feet will be increased by using different materials as that of the previous project for the feet as well as by making the feet bigger to better distribute the weight along to using different springs.
Feet
The size of the feet will be increased so that the weight of the top-heavy robot can be better distributed as it’s walking. Additionally, the shape of the feet was also modified to minimize the amount of material to be used in the manufacturing. Since most of the weight of the robot will be exerted on the corners of the feet, just like how the weight of humans is placed on the toes and heels of the foot, the shape was kept with four major corners.
Back of envelope design
A trade-off study in conjunction with a simulation in SolidWorks will be later conducted to determine which design will work the best for the BiPed. Furthermore, the feet will be incorporated into the BiPed so that they can hinge as the robot takes a step. To increase the stability of the feet and therefore the ankle part of the robot, a leaf spring will be used in place of a traditional spring. The leaf spring will provide the better stability while still maintaining enough flexibility for the foot to flex at every step taken.
Legs
The leg design from the Spring 2017 Velociraptor project will be kept the same. The design used previously is the linkage system found in the Theo Jansen Walking Biped. The linkage system already mimics the kinetics behind walking. Furthermore, the design eliminates the need for taking into account the hinge movement of the knee since the leg rotates at the hip and creates that movement on its own.
Leg Design Model from Wiki [1]
Reference:
[1] https://en.wikipedia.org/wiki/Jansen%27s_linkage#/media/File:Jansen%27s_Linkage.svg
Hips
The hips as a whole are being made smaller in width so as to make them have a tighter look them. This is going to be accomplished by making gears in the hips that allowed the velociraptor to turn have a smaller radius. Additionally, the space between the universal joint and the rotating disk of the hip/leg will be made much smaller. With these two modifications, the hips will be made smaller in diameter which will decrease the distance of rotation during turning as well as decrease the time it takes the robot to turn and therefore navigate the maze. A quick Solidworks model is provided below based on preliminary talks on the optimal design.
Center-Of-Mass Shifting Mechanism
In order to modify the velociraptor design into a BiPed, the head-tail component was completely eliminated. As a result, a center-of-mass shifting mechanism had to be created in order to shift the center of gravity of the BiPed as it is turning so that the toy will not fall over during this motion. The inspiration for the mechanism came once again from the Theo Jansen Walking Biped. The weight shifting mechanism used in this robot can be seen here:
Essentially, this mechanism would be implemented in an automated version instead of a purely mechanical way. A weight will be placed as part of the body of the robot that will be slowly shifted by a motor to the opposite side of the pivot point of the BiPed as its turning. The modeling and simulation of this mechanism will be done in the future.
By: Piyush Jain (Project Manager)
The BiPed shall incorporate a single 3.7v battery which shall power the BiPed through the three maze trials. The battery will be able to be recharged in between the trials. The BiPed shall use one mini servo and one DC motor to help turn and perform a static walk. The turning mechanism shall employ a small turning radius. The static walk shall ensure that the feet are kept in close proximity.
BiPed Tasks
By: Piyush Jain ( Project Manager)
The Work Breakdown Structure displays in an easy to read manner for the tasks which need to be completed by the respected division engineers. It details the kind of work which has to be done, moving forward, in order to have a successful BiPed by December 13, 2017. The tasks were derived from the Lv 1 requirements agreed upon by the customer.
By: Piyush Jain (Project Manager)
The Project Schedule details the project timeline from a Top-Level/Subsystem Level perspective. The Top Level consists of four main sections; Planning Phase, Design Phase, Assembly Phase, and Project Launch. These four sections help to guide the project towards mission success by breaking the work down into realizable goals.
The System/Subsystem Level was designed to complement the Work BreakDown Structure. It details the specific work which needs to be done by each engineer in their specific division. It allots specific time to each task such that the project will be completed by December 13, 2017. It is broken down into the Manufacturing, MST, and E&C division.
By: Piyush Jain (Project Manager)
The Burn Down Schedule shows the amount of work needed to be completed in order for the mission to be a success. The blue linear line shows the ideal schedule for the amount of work per week. The orange line indicates the actual work to be done. As shown, the work increases in loads as the semester progresses.
By: Melwin Pakpahan (Missions, Systems, & Test)
The Lv 2 requirement for the BiPed is to be under 850 grams or roughly 1.5 pounds. This was selected so the BiPed would be able to traverse the maze in a timely manner. A rough mass report was generated to guide us to hit our Lv 2 requirement. According to this report, we are well under the 850 grams. Our biggest item of uncertainty is the frame of the BiPed. It is estimated to come in at 300 grams, which is 200 grams less than the previous semesters’ design.
A preliminary power report is provided below. The power report is missing much of the Electronic & Control engineering work because we had many problems with the engineer. By October 25th, 2017 we shall have an updated power report.
By: Piyush Jain (Project Manager)
The main program requirement for this BiPed is that it shall not exceed $250.00. A project budget cost was formulated with this requirement in mind. As seen by the image below, we are well below the limit of $250.00. We are able to reduce the cost of this project by obtaining several times from Hill, including the DC motor and mini servo. Also, the sensors decided will be of low cost and optimal performance. The main cost of the project will be the frame of the BiPed because we decided to incorporate a more compact, yet sturdy design. The item of most concern is the custom PCB. Even with a $10 estimate, based on a quick research, we will need to conduct a more in-depth research as to which companies can provide us a high quality, low-cost single board.
By: Lucas Gutierrez (Project Manager)
ModWheels Team Members:
Project Manager: Lucas Gutierrez
Mission, Systems, and Test Engineer: Andrew Yi
Electronics and Control Engineer: Matt Shellhammer
Design and Manufacturing Engineer: Adan Rodriguez
Table of Contents
By: Lucas Gutierrez (Project Manager)
ModWheels is a toy car that will navigate a multi-colored 2D maze using the Arxterra App for remote control. The initial phase consists of having the toy car navigate the maze with user input. ModWheels will then memorize the route taken during the initial phase and will be able to autonomously navigate the maze for the second phase. Another rule of the maze will be to detect other robots and avoid collision. These are the objectives stated by the customer.
By: Andrew Yi (Mission, Systems, and Test Engineer)
L1-1: ModWheels shall be completed by Wednesday, December 13th, 2017.
L1-2: ModWheels will be a toy robot.
L1-3: ModWheels shall cost no more than $200.
L1-4: ModWheels will use a 3DoT board.
L1-5: ModWheels shall use a peripheral custom PCB connected to 3DoT board.
L1-6: ModWheels will be able to be controlled through the ArxRobot App or Arxterra Control Panel.
L1-7: ModWheels shall navigate a multi-colored 2D maze.
L1-8: ModWheels shall stop when another robot has been detected within a 1.5 foot radius ahead.
L1-9: ModWheels should be able to avoid collisions with other robots operating within the maze.
L1-10: ModWheels shall provide video feedback through a smartphone placed on the toy car.
L1-11: ModWheels shall weigh no more than 500 grams.
L1-12: ModWheels shall be able to memorize a path through the maze taught by the user.
L1-13: ModWheels should be able to travel down the memorized path autonomously.
L1-14: ModWheels should be able to adopt an electronic differential with dual rear motors.
L1-15: ModWheels should be able to adopt a slip differential with dual rear motors.
L2-1: ModWheels will have a 3DoT board mounted on the chassis of the ModWheels toy car, as defined by L1-4.
L2-2: ModWheels shall use 2 color sensors to detect the walls within the maze so that it can keep itself within the confines of the hallways, as defined by L1-7.
L2-3: ModWheels shall use the ultrasonic sensors to detect other objects 1.5 feet in front of the toy car, as defined by L1-8.
L2-4: ModWheels will be controllable through Arxterra App using the HM-11 Bluetooth module on the 3DoT board. The Arxterra App has a graphical user interface (GUI) that allows control of the toy robot, as defined by L1-6.
L2-5: ModWheels should have an area for a smartphone to be placed onto it. The phone should have a periscope attachment on its camera and will provide live feed video via the Arxterra App, as defined by L1-10.
L2-6: ModWheels shall navigate a maze autonomously after it has cleared the maze with user input. The autonomous route shall follow the original route without user input, as defined by L1-12.
L2-7: ModWheels will be a remote controllable toy car with a paper shell overlay. The paper shell overlay gives the ModWheels its customizability, as defined by L1-2.
L2-8: ModWheels should use the ultrasonic sensor to reroute themselves if another robot is approaching it head on. When oncoming traffic is detected, ModWheels should direct itself closer towards a wall to allow the oncoming robot to pass, as defined by L1-9.
L2-9: ModWheels shall use a custom PCB to control the ultrasonic, infrared, and color sensors. This PCB shall be connected to the 3DoT board aboard the chassis, as defined by L1-5.
L2-10: ModWheels shall use 2 infrared (IR) sensors to detect the black lines in the maze that indicate intersections, as defined by L1-7.
L2-11: ModWheels shall stop when another robot is detected to be 1.5 feet in front of the toy car, as defined by L1-8.
L2-12: ModWheels shall cease all motor functions when another robot is detected 1.5 feet in front of it. It shall resume resume normal operations after the robot has left the detection area, as defined by L1-8.
Source Material:
By: Matt Shellhammer (Electronics and Control Engineer)
Source Material:
By: Andrew Yi (Mission, Systems, and Test Engineer), Matt Shellhammer (Electronics and Control Engineer), and Lucas Gutierrez (Project Manager)
By: Andrew Yi (Mission, Systems, and Test Engineer)
The ModWheels car is broken into 6 sections for the Product Breakdown Structure (PBS). The visuals consist of a smartphone with periscope attachment feeding live video back to the user. The motors, wheels, and servo are the main parts of the mobility of the toy car. Bluetooth and the Arxterra app allow for mobile control of the toy car. The color and ultrasonic sensors will aid in detecting walls (color) and robots (ultrasonic). The paper overlay and 3D printed plastic allow for customization of the ModWheels toy car. A singular 3.6V RCR123A battery will power the ModWheels car and its peripherals.
By: Andrew Yi (Mission, Systems, and Test Engineer)
The System Block Diagram (SBD) gives a visual of how the different components of a system are connected. The motor drive on the 3DoT will power the dual RWD motor, which in turn controls the rear wheels. The color sensors on the custom PCB assist in wall detection (in maze) and in detecting other robots within the maze. A periscope will be attached onto the camera of a smart phone and placed on the ModWheels car. This will give live feed video back to the user. The servo allows for turning of the front wheel and controls the steering of the toy car.
By: Matt Shellhammer (Electronics and Control Engineer)
To know how all of the external components will interface with the 3DoT board the table has been created to know what connections will be required for each of the individual components. This table can then be used to configure the interface matrix between the 3DoT board and the external components.
By: Lucas Gutierrez (Project Manager)
This Illustrator file shows the first and foundational model to which ModWheels will develop from. This two dimensional vector file is converted to a .dxf file which is readable by Laserworks, a software interface for the Kaitian laser cutting and engraving machine. Once correct settings in Laserworks are enabled, optimal settings for a certain material, the laser cutting and engraving machine cuts and engraves the material (1/8″ 3-ply birch) from which the car can be assembled.
By: Matt Shellhammer (Electronics and Control Engineer)
By: Lucas Gutierrez (Project Manager)
ModWheels Team Members:
Project Manager: Lucas Gutierrez
Mission, Systems, and Test Engineer: Andrew Yi
Electronics and Control Engineer: Matt Shellhammer
Design and Manufacturing Engineer: Adan Rodriguez
By:
By: Lucas Gutierrez (Project Manager)
This layout provides the layout of due dates for the ModWheels project.
This layout provides the layout of due dates and assignments for engineers for the ModWheels project.
This layout provides the burn down for the ModWheels project.
By: Andrew Yi (Mission, Systems, and Test Engineer)
The power report is an overview of the power requirements of each physical component. The MST team is currently working with Professor Hill to finish the power chart for the 3DoT board. Once that task is finished, testing can begin on components to get test data.
This report shows the mass of all the physical components used in the toy robot. There is quite a large amount of contingency because the rules of the maze has not been defined yet. Once those are defined, then the correct amount of sensors and components can be chosen.
By: Lucas Gutierrez (Project Manager)
The cost report shows the current cost of components against the budget set by the customer. A larger pool of money was given towards the PCB board and components because of the uncertainty of certain sensors being required (maze rules). In case of laser cutting, money has been set aside to account for those costs.
Final Documentation including Critical Design Review Information and files on all the final designs and codes.
Final Documentation including Critical Design Review Information and files on all the final designs and codes.
The process of designing the palm structure for the prosthetic hand and the adjoining thumb flexion components.
The process of developing the solidworks designs of the fingers for the prosthetic hand.
General Links to the Verification and Validation Reports for both the Prosthetic Arm and the Prosthetic Hand.
