1. Final Capstone Design Presentation MAE 4194 – Mechanical Design 2 Lok Wah Jameson Tai  William M. Rae  Justin L. Nunn Faculty Advisor: Pierre M. Larochelle, Ph. D., P. E. In Partnership with: Tool Changer PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

2. To retrofit the PantherBot in order to give it the capability to open doors and press wall panel buttons, so that it can roam autonomously inside the F. W. Olin Engineering Complex. Safety of people, building and robot Functional tools for tasks Autonomous tool changes Positive control of tools Secure tool storage Store tools away from sensors and access areas Safety of people, building and robot Functional tools for tasks Autonomous tool changes Positive control of tools Secure tool storage Store tools away from sensors and access areas PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

3. To apply our knowledge gained in class and properly apply them to this project To apply technical skills, communication skills, and the engineering design process into the project To operate safely while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm To apply our knowledge gained in class and properly apply them to this project To apply technical skills, communication skills, and the engineering design process into the project To operate safely while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

4. PowerBot mobile robot, manufactured by MobileRobots, Inc. TM 6-DOF robotic arm, manufactured by Schunk Intec. autonomously map terrain, plot coordinates, MobileEyes TM and Mapper3 TM software on-board sonar sensors laser range finder. two cameras, one on the PantherBot's base, one adjacent to the parallel gripper on the robotic arm Remote access via 802.11b WiFi. PowerBot mobile robot, manufactured by MobileRobots, Inc. TM 6-DOF robotic arm, manufactured by Schunk Intec. autonomously map terrain, plot coordinates, MobileEyes TM and Mapper3 TM software on-board sonar sensors laser range finder. two cameras, one on the PantherBot's base, one adjacent to the parallel gripper on the robotic arm Remote access via 802.11b WiFi.

5. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Keeping in mind that the PantherBot should be able to operate and change tools autonomously, it is necessary to have safety features in place in case PantherBot or its robotic arm malfunctions or operates outside of its intended parameters. Emergency Stop Buttons Sonar Sensors Returns PantherBot terrain data to plot and avoid obstacles Laser Range Finder Returns range data to accurately measure forward distance Collision Bumpers Serves as emergency stops if collision occurs

6. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot F. W. Olin Engineering Complex was established via a grant from the F. W. Olin Foundation in 1997. The three-story building contains several classrooms, a 142-seat multimedia auditorium, and 26 specialized laboratories, including the Robotics and Spatial Systems Laboratory.

7. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Concept sketching CAD modeling Physical prototyping Finite element analysis CAD model to optimize Production Drawings Concept sketching CAD modeling Physical prototyping Finite element analysis CAD model to optimize Production Drawings

8. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Analysis of our tools was performed using the Cosmos finite element analysis package by DS SolidWorks. Testing was done with a 1.5 factor of safety to ensure the tool would break before damaging the robot DeformationStressStrain

9. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Spring supported symmetric four-bar mechanisms Parallel grippers to drive the contact point forward Mimics the motion of a human finger reaching out and pressing a button Spring allows for easy retraction of the tool and even deployment of the mechanism Foam tip prevents any damage to the button Spring supported symmetric four-bar mechanisms Parallel grippers to drive the contact point forward Mimics the motion of a human finger reaching out and pressing a button Spring allows for easy retraction of the tool and even deployment of the mechanism Foam tip prevents any damage to the button

10. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Tool 1 & 2 Concept sketching CAD modeling Physical prototyping Finite element analysis Design Re-Evaluation Physical prototyping Finite element analysis CAD model optimization Production Drawings Tool 1 & 2 Concept sketching CAD modeling Physical prototyping Finite element analysis Design Re-Evaluation Physical prototyping Finite element analysis CAD model optimization Production Drawings

11. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Deformation StressStrain

12. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Deformation StressStrain

13. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot T-shape hook unlocks the door handle PantherBot backs up to pull open door Arm lets go of the door handle Door rests against robot. Arm will reposition so the wheel is pressed against the door Wheel holds door open while PantherBot passes through. T-shape hook unlocks the door handle PantherBot backs up to pull open door Arm lets go of the door handle Door rests against robot. Arm will reposition so the wheel is pressed against the door Wheel holds door open while PantherBot passes through.

14. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot T-shape hook unlocks door handle Arm pushes door open ~10⁰ Arm tilts so the wheel is pressed against the door Arm repositions so door is open PantherBot moves forward and wheel maintains appropriate clearance T-shape hook unlocks door handle Arm pushes door open ~10⁰ Arm tilts so the wheel is pressed against the door Arm repositions so door is open PantherBot moves forward and wheel maintains appropriate clearance

15. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

16. Designed to secure tools in same location and orientation every time Clear of sensors Secure mounting Accessible by arm Aesthetically acceptable

17. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot The Prod is composed of the following: 1-1/2" L x 1-1/2" W (0.125" lip) Aluminum 6063-T52 U-Channel 1/8" L x 1/2" W Aluminum 6061 Bar Ø 3/16" O1 Tool Steel Shaft Black Retaining Rings for Ø 3/16" Shaft Flanged Sleeve Bearings for Ø 3/16" Shaft 2-3/4" L x 5/8" OD, 0.054" Wire Zinc-Plated Steel Compression Spring 1/8"W Adhesive-Back Elastic Natural Gum Foam Strip 1 generic rubber-tipped foam Nerf dart The Prod is composed of the following: 1-1/2" L x 1-1/2" W (0.125" lip) Aluminum 6063-T52 U-Channel 1/8" L x 1/2" W Aluminum 6061 Bar Ø 3/16" O1 Tool Steel Shaft Black Retaining Rings for Ø 3/16" Shaft Flanged Sleeve Bearings for Ø 3/16" Shaft 2-3/4" L x 5/8" OD, 0.054" Wire Zinc-Plated Steel Compression Spring 1/8"W Adhesive-Back Elastic Natural Gum Foam Strip 1 generic rubber-tipped foam Nerf dart

18. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot The Enterprise is composed of the following: 1-1/2" L x 1-1/2" W (0.125" lip) Aluminum 6063-T52 U-Channel 1/4" L x 1/2" W Aluminum 6061 Bar 5/16" Diameter O1 Tool Steel Shaft Black Retaining Rings for Ø 5/16" Shaft 1/8"W Adhesive-Back Elastic Natural Gum Foam Strip 70mm Diameter roller skate wheel with two Ø 5/16“ ABEC 3 Bearings The Enterprise is composed of the following: 1-1/2" L x 1-1/2" W (0.125" lip) Aluminum 6063-T52 U-Channel 1/4" L x 1/2" W Aluminum 6061 Bar 5/16" Diameter O1 Tool Steel Shaft Black Retaining Rings for Ø 5/16" Shaft 1/8"W Adhesive-Back Elastic Natural Gum Foam Strip 70mm Diameter roller skate wheel with two Ø 5/16“ ABEC 3 Bearings

19. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot The tool holders for the Prod and the Enterprise are composed of 0.08" sheet metal.

20. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

24. Initial Budget estimate of $800 Donations, redesigning the tools and additional research helped reduce the Budget Final cost of $204 Initial Budget estimate of $800 Donations, redesigning the tools and additional research helped reduce the Budget Final cost of $204 Vendor Number of items Purchased Cost McMaster-Carr17172.44 Online Metals2 18.67 Reimbursments3 13.20 Total22204.31

25. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot The PantherBot team made sure all designs functioned within the following regulations and guidelines: Basic Machine Tool Operation Guide, Florida Tech Machine Shop MSDS guidelines for the Robotics and Spatial Systems Laboratory Florida Tech College of Engineering Lab Safety Guide and Chemical Hygiene Plan OSHA STD 01-12-002 - PUB 8-1.3, robotics guidelines OSHA 1910.252 General requirement guidelines OSHA Personal Protective Equipment guidelines Robotics operation guidelines as set by Dr. Larochelle Safety plan filed with the University Safety Officer The PantherBot team made sure all designs functioned within the following regulations and guidelines: Basic Machine Tool Operation Guide, Florida Tech Machine Shop MSDS guidelines for the Robotics and Spatial Systems Laboratory Florida Tech College of Engineering Lab Safety Guide and Chemical Hygiene Plan OSHA STD 01-12-002 - PUB 8-1.3, robotics guidelines OSHA 1910.252 General requirement guidelines OSHA Personal Protective Equipment guidelines Robotics operation guidelines as set by Dr. Larochelle Safety plan filed with the University Safety Officer

26. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Responsible Financial decisions Proper practices in purchasing of materials using school funds Personal responsibility Team members performing their share of the work Team members following the Code of Ethics of Engineers as described by the American Society of Mechanical Engineers By following these guidelines we were able to ensure the safety of the people, machine and building Responsible Financial decisions Proper practices in purchasing of materials using school funds Personal responsibility Team members performing their share of the work Team members following the Code of Ethics of Engineers as described by the American Society of Mechanical Engineers By following these guidelines we were able to ensure the safety of the people, machine and building

27. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot Design Development Process Brainstorming Idea enhancements Design optimization Engineering Skills Acquired for Future CAD modeling Computer aided analysis Machine shop skills Design Development Process Brainstorming Idea enhancements Design optimization Engineering Skills Acquired for Future CAD modeling Computer aided analysis Machine shop skills

28. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot We have completed the task of designing and implementing a tool changer for the PantherBot such that it may open doors, as well as press buttons and access panels in the F. W. Olin Engineering Complex. The Prod was created with an objective of pressing buttons by utilizing the PantherBot's parallel gripper on its robotic arm for input. The Enterprise was created with objective of opening doors by fully utilizing the PantherBot and its robotic arm. As a result, the team was able to successfully give the PantherBot the means of autonomously navigating into additional sections of the F. W. Olin Engineering Complex.

29. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot The PantherBot Tool Changer team would like to thank the Florida Institute of Technology College of Engineering for funding the project, Dr. Youngsik Choi for instructing the Mechanical Design course, and Dr. Pierre Larochelle for approving and facilitating this design project at the Robotics and Spatial Systems Laboratory. For more information, please visit us on our project website: The PantherBot Tool Changer team would like to thank the Florida Institute of Technology College of Engineering for funding the project, Dr. Youngsik Choi for instructing the Mechanical Design course, and Dr. Pierre Larochelle for approving and facilitating this design project at the Robotics and Spatial Systems Laboratory. For more information, please visit us on our project website: http://flsvr.com/pantherbot

30. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot