1. R I T Team Members: Dan Lester → Team Lead Chris Feuerstein → Lead Engineer/Electrical Lead Mike Schwec → Electrical Support Jacob Hillmon → Electrical Support Huan Yu-Chen → Mechanical Lead Delnessaw Hirpa → Mechanical Support David Ng → Microcontroller Lead Oliver Yuen → Microcontroller Support P08201 – 10kg Robotic Platform This project is supported by a gift from the Gleason Foundation to the mechanical Engineering department at RIT.

2. R I T Project Description The mission of this family of projects, within the Vehicle Systems Technology Track, is to develop a land-based, scalable, modular open architecture, open source, fully instrumented remote/controlled vehicular platform for use in a variety of education, research & development, and outreach applications within and beyond the RIT KGCOE. This student team will re-design two modular, robotic platforms capable of carrying a payload anywhere in the robotics lab, room #9-2230 of Building #09 on the RIT campus. One drive platform configuration shall be three wheeled, with at least one motor module, and a payload capacity of at least 2.5kg. The second drive platform configuration shall have at least four wheels, with at least two motor modules, and a payload capacity of 10kg. The platform will be required to accomplish two sets of test as stated in the PRP.

3. R I T Customer Needs The platform must re-use as many parts from previous designs as possible. Re-use of motor module materials, such as drive motors, batteries, and ring gears The platform must perform safely Emergency stop system The platform must be able to carry a payload of 10kg Rigid chassis, designed with strong 80/20 material The platform must fit within the $8000 Budget split between all 3 project groups. Re-use of P07201 materials and budget is estimated to be >$1000 The platform must be battery powered Powered by 2 12V batteries The platform must be robust Strong materials and versatile electronics The platform must utilize off the Shelf Components Microcontroller/communication is provided by outside vendors The platform must perform all testing requirements successfully Capable of manual control and autonomous navigation The platform must use interchangeable modules that can be swapped within 120 seconds. Motor module turntables are able to efficiently slide in and out of 80/20 material The platform must be able to be scaled up or down in size and payload capacity. Similar in design to RP100 The platform must be open source to allow for other senior design projects on it. H-Bridge, Battery Monitor, and, PCB Board are in house and fully documented.

4. R I T Basic frame The frames will be constructed from 1”x 1” 80/20 Aluminum extrusion. The extrusion will be connected to the desired structure using fasteners.

5. R I T Overall weight,dimension and cost of the chassis –Weight =8.0lbs –Width = 19.0” –Height = 8.0” –Length = 24.0” –cost = $273.55

6. R I T Method of Connection to the Motor Module –The motor module will have an aluminum tube attached to it where the chassis frame will just slide into it and secured in place using pin.

7. R I T New Robotic Platform Concept Fully assembled appearance of the platform

8. R I T Motor Module Driving Motor Steering Motor Encoder Cover Encoder Mount Ring Gear Turntable Yoke Aluminum Tubes Wheel Direct Drive Shaft Power Transmission shaft

9. R I T New Turntable New 6” x 6” Galvanized Steel Square Turntable to replace original turntable Most Crucial, since it also worked as main motor mount to the platform.

10. R I T Risk Analysis of Mechanical Components 80/20 Fastening System –Provide a tight, sturdy structure –Loose fasteners from vibration and use Motor Module Ring Gear –Proper machining of components –Alignment of gears to reduce wear and stress and improve efficiency

11. R I T Electrical Systems Overview

12. R I T In-House Battery Monitor

13. R I T In House CMOS H-Bridge

14. R I T In House H-Bridge Logic Circuit

15. R I T In House CMOS H-Bridge

16. R I T Power System Architecture

17. R I T Single Regulator Circuit

18. R I T Electrical Interconnect Diagram

19. R I T Risk Analysis of Electrical Components Control System –Motor controller and motor module –Loss of communication Power System Failure –Inadequate battery life (1hr spec) –Low battery power Cabling Issues –Cabling interference –Motor noise

20. R I T Computer System Layout PWM ControlOutputInput PWM 1EN_STEER: HI/LO4 Pairs of A, B PWM 2Left/Right: HI/LO Forward/Reverse: HI/LO PWM 3EN_STEER: HI/LO4 Pairs of A, B PWM 4Left/Right: HI/LO Forward/Reverse: HI/LO PWM 5EN_STEER: HI/LO4 Pairs of A, B PWM 6Left/Right: HI/LO Forward/Reverse: HI/LO PWM 7EN_Drive: HI/LO6 Zero_SW PWM 8 ATD 81031

21. R I T Sequence Diagram –Pros: –Wireless Communication –Programmable/Functionality –Durability –Cons: –Implementation complexity –Security –Cost

22. R I T Software: UML

23. R I T Risk Analysis of Computer Components Microcontroller System –Microcontroller Initializations –Software implementation –System response after loss of communication –Signals processing speed (encoders) Remote Control System –Wireless Communication –TinyOS Interface –Communication with Microcontroller –Signals processing speed Navigation System –Accuracy

24. R I T Total BOM Cost Mechanical Cost Breakdown Electrical Cost Breakdown $178.42 $505.50 $203.90 Microcontroller Cost Breakdown Total Electrical: Lot of One – $887.82 Lot of Ten – $8878.20

25. R I T Senior Design I – Next Steps November 16 th – order parts for Bill of Materials February 1 st – Motor Module machined, assembled, and tested by week 7 of winter quarter March 21 st – Initial Integration of major sub function components April 25 th – Design verification testing May 2 nd – Function and performance review May 9 th – Tech Paper, Design Poster and Website due May 16 th – Final Project Review

26. R I T Questions?