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. 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 Agenda Introduction – 10 minutes Mechanical Subsystems – 20 min –Platform Design – 10 minutes –Drive System Design – 10 minutes Electrical Subsystem – 20 minutes –Systems Overview – 3 minutes –Motor Controller (H-bridge) – 10 minutes –Battery Monitor – 7 minutes Microcontroller Subsystem – 15 minutes Feedback/Q&A – 25 minutes

3. 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, fully functional robotic platforms capable of carrying a payload anywhere in the robotics lab, room #9-2230 in Building #09 on the RIT campus. One drive platform shall be three wheeled, with at least one motor module, and a payload capacity of at least 2.5kg. The second drive platform shall have at least four wheels, with at least two motor modules, and a payload capacity of 10kg. Each platform will be required to accomplish two tests as stated in the PRP.

4. R I T Customer Needs The platform must re-use as many parts as last year’s designs as possible. The platform performs safely Must be able to carry a payload of 10kg Fits within $8000 Budget between all 3 project groups. The robotic platform must be battery powered The platform is robust Off the Shelf Components The platform performs testing requirements Impressive looking for high school students in the US FIRST robotics competition. Interchangeable modules (at least one) within 120 seconds Scalable with 100kg (with expectations to scale down to 1kg) Adaptable for other senior design projects Robot must be able to be controlled remotely

5. R I T P07204 Selected Concept

6. R I T Rectangular Configuration Length: 26.75 inches Width: 27.0 inches Height: ~21.0 inches (without payload)

7. R I T Triangular Configuration Length: 24.0 inches Width: 23.0 inches Height: ~19.0 inches (without Payload)

8. R I T Made of inexpensive, strong, lightweight acrylic tubing Easy assembly – members are joined with epoxy, and screw New Chassis Structure

9. R I T Modular Motor Mounts Easily mounts motor modules to chassis Modules fixed in rails with two thumbscrews Adding or removing modules is quick and easy Made of inexpensive, easy to machine plastics

10. R I T Platform Selection Criteria 72048201 Platform Selection Criteria WeightRating Weighted Score Ratin g Weighted Score Robust 2030.640.8 Low Center of Gravity 1030.340.4 Ease of Manufacture 2030.620.4 Component Protection 1530.4540.6 Modularity 1530.453 Weight 1030.320.2 Durbality 1030.33 Total Score100 3 3.15

11. R I T New Motor Design Concept Focus on easy assembly, low center of gravity, shorten the overall height Old New

12. R I T 2:1 Motor Module Axle design has low ground clearance and large turning radius and restriction for infinite rotation Steering Motor torque restriction 2:1 Axle 2:1 Belt

13. R I T 1:1 Motor Module Design Flat design allows for infinite rotation Low Design significant lower the center of gravity, however it’s rotation is restricted by the wiring. FlatLow

14. R I T Selection Criteria Concepts (8201) 2:1 DriveLow DriveFlat Drive Motor-Wheel Assembly Concept Selection Criteria Weight (%) Rating weighte d Score Rating weighted Score Ratin g weighte d Score Cost of Material2040.84 30.6 Weight1030.33 3 Appearance3020.630.941.2 Ease of Manufacturing2030.620.430.6 Adaptability2010.21 20.4 Total score 2.5 2.6 3.1 Rank3 2 1 Continue? No Yes

15. R I T Risk Analysis of Mechanical Components Clear Acrylic Tubing –Load Carrying Capability –Bending of Members –Impact Resistance –Scratching / Weathering / Cracking Epoxy –Alignment of Members –Cleanliness upon Application –Fatigue over time –Complete Failure under Loading / Operation Motor Mount Thumb Screw –Vibration under Operation High Density Polyethylene (HDPE) Motor Mounts –Flexing under loading

16. R I T Electrical Systems Overview

17. R I T Harris HIP4081A H-Bridge Driver IC and NMOS Bridge

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

19. R I T In House CMOS H-Bridge

20. R I T Simulation of CMOS H-Bridge

21. R I T H-Bridge Design Comparison

22. R I T H-Bridge Selection Process

23. R I T Off-Shelf IC for Battery Monitor

24. R I T Custom Battery Monitor

25. R I T Simulation of Battery Monitor

26. R I T Microcontroller Several Options: - Altera MAX EPM7128SLC84-7 - Freescale CSM12D - Freescale MC56F8366MFVE (Sample) - Atmel ATMEGA

27. R I T Atmel ATMEGA Microcontroller: ATMEGA128-16AU Speed: 16.000MHz Processor Language: AVR Memory Program Flash Memory (Internal): 128kBytes RAM Memory (Internal): 4k Bytes EEPROM Memory (Internal): 4k Bytes Input/Ouput I/O Points Available: 48 I/O Points Connection: IDCC Connector A/D A/D Channels: 8 A/D Accuracy: 10-bit Clocks Real Time Clock: Yes (Internal) Timers Timers: Yes - Two 16-bit Timers and Two 8-bit Timers Capture/Compare: Yes - 1 Modules PWM: Yes - 6 Channels Auxiliary Communication RS232 Communication: Yes - 2 Channels Power Supply Power-Supply: 7-12 Vdc Dimensions LxWxH: 82mm x 62mm x 25mm (Including mounting supports) Cost $28.90

28. R I T Freescale CSM12D Features: MC9S12DT256 MCU, 80 LQFP 256 KB Flash EEPROM 4KB EEPROM 12 KB RAM 8-ch, 10-bit, ATD w/ external trigger 8-bit Enhanced Capture Timer with IC, OC, and Pulse Accumulate capabilities 7-ch, 8-bit PWM RS-232 transceiver w/ DB9 connector 4 MHz Clock Oscillator On-board 5V regulator 3 Push Button Switches: 2 User, RESET 5 LED Indicators: 4 User, +5V 60-pos pin-header providing access to MCU IO signals DB9 connector Specifications: Module Size 3.5. x 2.5. Power Input: +9V typical, +6V to +20V

29. R I T Remote Control System Choices: –Wired (PC/Laptop) –Wireless (Laptop) –RC Kit –Infrared –RFID

30. R I T Laptop (Wireless) –Pros: Wireless; Functionality; Durability; –Cons: Complexity; Security; Cost

31. R I T Crossbow MICA2 Wireless mote

32. R I T Senior Design I – Next Steps Fall Quarter Week 8 – Detail Design Review Fall Quarter Week 10 – Final Presentation for SD1 Spring Quarter Week 1 – Initial implementation of design concepts obtained from SD1

33. R I T Feedback/Q&A?