1. ECE 480 Design Team 1 Autonomous Docking of NASA Robotic Arm

2. The Team Management Management Nick Tokarz(Electrical) Document Preparation Document Preparation Joesph Baumgardner (Computer) Web Master Web Master James Marus (Computer) Lab Coordinator Lab Coordinator Truc Nguyen (Computer) Truc Nguyen (Computer) Presentation Presentation Kacy King (Mechanical) Kacy King (Mechanical) Lab Coordinator Lab Coordinator Keith Ortman (Mechanical) Keith Ortman (Mechanical) Facilitator – Karim OweissIndustrial Sponsor - Michael Comberiate Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

3. Background Previous Team’s Work Started in 2004 Started in 2004 Six-degree-of-freedom robotic arm Six-degree-of-freedom robotic arm Control system Control system Electromagnetic end effector Electromagnetic end effector AUTONOMOUS DOCKING IS CURRENTLY NOT FEASIBLE AUTONOMOUS DOCKING IS CURRENTLY NOT FEASIBLE Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

4. Customer Requirements Create autonomous docking routine Create autonomous docking routine Addition of proximity sensors to the end effector Addition of proximity sensors to the end effector Improving the GUI Improving the GUI Adding a planetary gear box at the elbow joint Adding a planetary gear box at the elbow joint Fixing the connectors to the printed circuit board Fixing the connectors to the printed circuit board Replacing the joystick Replacing the joystick Additional Objectives Additional Objectives Making the arm controllable via the internet Making the arm controllable via the internet Developing a new base for the robot arm. Developing a new base for the robot arm. Tightening the arm joints Tightening the arm joints Mounting a USB camera to the end effector Mounting a USB camera to the end effector Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

5. Why Autonomous Docking? Time delay between user interface and actual movement Time delay between user interface and actual movement Close quarter collision avoidance Close quarter collision avoidance Inhospitable environments Inhospitable environments Precision Precision Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

6. Necessary Improvements Improvements needed for autonomous docking Improvements needed for autonomous docking Unpredictable arm movements Unpredictable arm movements Mechanical deficiencies Mechanical deficiencies Unfriendly user interface Unfriendly user interface Inverse kinematics Inverse kinematics Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

7. Mechanical Support Design new steel constructed base Design new steel constructed base Tighten keyway joints Tighten keyway joints Improve existing motor mounts Improve existing motor mounts General mechanical support General mechanical support Replace servo motor horn Replace servo motor horn Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

8. Mechanical Work Motorized gear box Motorized gear box Maximum motor torque 700 gm-cm Maximum motor torque 700 gm-cm Various combinations of planetary gears to achieve desired output torque. Various combinations of planetary gears to achieve desired output torque. Mount new gear box Mount new gear box Mount camera and proximity sensors Mount camera and proximity sensors Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

9. Autonomous Docking Distance from the docking station and Angle of insertion Distance from the docking station and Angle of insertion Infrared proximity sensors Infrared proximity sensors Intensity of light determines analog output Intensity of light determines analog output Output is sent to an analog to digital converter Output is sent to an analog to digital converter Digital output is sent to software to be analyzed Digital output is sent to software to be analyzed Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

10. Autonomous Docking Orientation of object to be docked Orientation of object to be docked Retro-reflective sensors Retro-reflective sensors Light sent out hits retro-reflective tape and is sent directly back to the source Light sent out hits retro-reflective tape and is sent directly back to the source Tape will be placed in strategic locations in order to align the object correctly Tape will be placed in strategic locations in order to align the object correctly Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

11. Software Joystick modification Joystick modification Change from force feedback Change from force feedback Autonomous docking Autonomous docking GUI improvements GUI improvements Remote control via internet Remote control via internet Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

12. Design Process Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

13. Risk Analysis Power consumption Power consumption Adequate torque Adequate torque Arm speed Arm speed Sensor accuracy and precision for successful autonomous docking Sensor accuracy and precision for successful autonomous docking Cost of sensors Cost of sensors Time Time Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs

14. Conclusion Team 1 – Autonomous docking of Robotic Arm Continue development and improvement of arm Implement autonomous docking Background Customer Requirements Autonomous Docking Conclusion The TeamConceptual Designs