1. Formal Design Review
Team 1

2. PROJECT INTRODUCTION Pick and place robot
Pick up, move, and release spheres into specified drop holes
Steel spheres - ∅ 12.7 mm
Drop holes - ∅ 14.3 mm
Rotary movement on two serially stacked axes
Stepper motors & Arduino Uno R3
Lifts/lowers spheres with permanent magnet grasping device
Servo motor

3. Team 1 Introduction Avery Callahan Hung Pham Kaitlin McNeill
Mike Wagner
Trenton Madden

4. MECHANISM INTRODUCTIONx y z
BASE
(Red)

5. MECHANISM INTRODUCTION
ROTARY AXIS 1
(Green) x y z

6. MECHANISM INTRODUCTION
ROTARY AXIS 2
(Yellow) x y z

7. MECHANISM INTRODUCTION
GRIPPER ASSEMBLY
(Blue) x y z

8. MECHANISM INTRODUCTION
CONTROL
(Purple) x y z

9. BASE - Configuration Rotary Axis Mount Material: ABS Plastic
Density of ABS: g/mm^3
Total Volume of Base: 155,892 mm^3
Total Mass of Base: 165 grams
Sphere Plate
Sphere Plate
Rotary Axis Mount x y z z x y

10. BASE - Rotary Axis Mount
Deflection P x y z

11. BASE - Rotary Axis Mount
Plastic Failure P x y z

12. BASE - Sphere Plate
Deflection x y z

13. BASE - Sphere Plate
Plastic Failure x y z

14. ROTARY AXIS 1
ROTARY AXIS 1
(Green) x y z x y z

15. ROTARY AXIS 1
Deflection x y z

16. ROTARY AXIS 1
Tilt Deflection

17. ROTARY AXIS 1
Plastic Failure x y z

18. Note: ABS will be used to make Rotary Axis 1.
200 mm
160 mm
Belt and Timing Gears
Note: ABS will be used to make Rotary Axis 1.

19. ROTARY AXIS 1 60T Drive: Stepper Motor & Timing Belt System
Timing Gear Ratio: 1:4
Gear Pitch: 0.08”

20. ROTARY AXIS 1 Control Surfaces: 4 Radial Ball Bearings MS 1
Thrust Bearing
Roller Bearing
MS 1
Control Surfaces: 4 Radial Ball Bearings
& 1 Thrust Ball Bearing
Initial Orientation Determined by Micro Switch 1
Radial Ball Bearing
Thrust Ball Bearing

21. Force of Arm 2 + Gripper Assembly
ROTARY AXIS 1
Force of Arm 2 + Gripper Assembly
Calculated Torque Requirement: 0.025N-m
Estimated Motor Torque: N-m
(NEMA-23)
½ stall torque
Motor Resolution for NEMA-23: 1.8 degrees/step
Calculated Resolution Requirement: degrees/step
Resolution has increased because of the gear ratio.
This gives us an uncertainty of
approx Radians.

22. ROTARY AXIS 1 Stepper stall torque (5V): 0.3883 N-m 0.1942 N-m
No-load speed (5V): 150 RPM
Calculated Torque Requirement: 0.048N-m
NEMA-23

23. ROTARY AXIS 2
ROTARY AXIS 2
(Yellow) x y z

24. ROTARY AXIS 2
Deflection x y z

25. ROTARY AXIS 2
Plastic Failure x y z

26. ROTARY AXIS 2
Tilt Deflection

27. Note: ABS will be used to make Rotary Axis 2.
135 mm mm
Belt and Timing Gears
Note: ABS will be used to make Rotary Axis 2.

28. ROTARY AXIS 2 Drive: Stepper Motor & Timing Pulley System Motor 2
Timing Pulley Ratio: 1:4
Pitch of Gear Mechanism: 0.08”
Motor 2
60 T
15 T

29. ROTARY AXIS 2
Control Surfaces: 2 Radial Ball Bearings & 1 Thrust Ball Bearing
Initial Orientation Determined by Micro Switch 2
Roller Bearing
Radial Ball Bearing
Thrust Ball Bearing
Thrust Bearing
MS 2

30. ROTARY AXIS 2 Force of Gripper Calculated Torque Requirement: 0.009 Nm
Estimated Motor Torque: 0.07 Nm
(NEMA-14)
½ stall torque
Motor Resolution for NEMA-14: 1.8 degrees/step
Calculated Resolution Requirement: 0.45 degrees/step
Resolution has increased because of the gear ratio.
This gives us an uncertainty of
approx Radians.

31. Stepper stall torque (5V): 0.1412 N-m
ROTARY AXIS 2
Stepper stall torque (5V): N-m
N-m
No-load speed (5V): 150 RPM
NEMA-14
Calculated Torque Requirement: 0.02 Nm

32. GRIPPER ASSEMBLY
GRIPPER ASSEMBLY
(Blue) x y z

33. Note: ABS will be used to make the Gripper Assembly
Motor Mount
Pinion
Note: ABS will be used to make the Gripper Assembly
20 kg Servo
Rack
Housing

34. Force required to separate the sphere from magnet:
GRIPPER ASSEMBLY
Force required to separate the sphere from magnet:
Fmotor
Frack x y z
Fmagnet
Fsphere

35. GRIPPER ASSEMBLY R x y z

36. GRIPPER ASSEMBLY

37. GRIPPER ASSEMBLY
Total Deflection

38. GRIPPER ASSEMBLY
Plastic Failure

39. GRIPPER ASSEMBLY Drive: Servo Motor + Rack & Pinion System
Total Mass: g
Calculated Torque Requirement: 0.27 Nm
SF of 2.5
Estimated Motor Torque: 0.93 Nm
(20kg Servo Motor)
Motor Resolution: 10 Bit or 1024 PPR

40. 4 mm x 4 mm Neodymium Magnet
GRIPPER ASSEMBLY
4 mm x 4 mm Neodymium Magnet
Pull Force of Magnet = 10.7 N
20 kg Servo Motor

41. Servo stall torque (5V): 1.86 N-m
GRIPPER ASSEMBLY
Servo stall torque (5V): 1.86 N-m
0.93 N-m
No-load speed (5V): 62.5 RPM
20 kg Servo Motor
Calculated Torque Requirement: 0.27 Nm

42. CONTROL
CONTROL
(Purple) x y z

43. CONTROL Arduino Uno R3 Computer Power IDE Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons

44. CONTROL Arduino Uno R3 Computer Power IDE Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Arduino Board

45. CONTROL Computer Arduino Uno R3 Power IDE Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Computer: USB

46. CONTROL Power Arduino Uno R3 Computer IDE Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Operates at 5V
1.2 Amps per bridge

47. CONTROL IDE Arduino Uno R3 Computer Power Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons

48. CONTROL IDE Arduino Uno R3 Computer Power Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons

49. CONTROL IDE #Include <libraries> <AFMotor.h>
<Servo.h>
Int variables
pinButton1 = Input pin of button 1;
pinButton2 = Input pin of button 2;
SwitchPin1 = Input pin of switch 1;
SwitchPin2 = Input pin of switch 2;
AF_Stepper motor1(steps/rev, Port);
AF_Stepper motor2(steps/rev, Port);
Servo servo1;
Val1 = 11; Val2 = 11; loop = 0;
Arduino Uno R3
Computer
Power
IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons

50. CONTROL IDE Void setup() { Arduino Uno R3 Servo1.attach(pin); Computer
Power
IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Void setup() {
Servo1.attach(pin);
motor1.setspeed(speed);
motor2.setspeed(speed); }
Void loop() {
Int statebutton1 == digitalRead(pinButton1);
Int statebutton2 == digitalRead(pinButton2);
If (statebutton1 == 1) {
Val1 = 0;
Val2 = 0; }

51. CONTROL IDE If (Val1 <10) { Arduino Uno R3
Computer
Power
IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
If (Val1 <10) {
motor1.step(# step,direction,SINGLE);
delay(50);
Val1 = analogRead(switchPin1); }
If (Val2 <10) {
motor2.step(# step,direction,SINGLE);
Val2 = analogRead(switchPin2); }

52. CONTROL IDE If (statebutton2 == 1) { Arduino Uno R3 loop = 1; }
Computer
Power
IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
If (statebutton2 == 1) {
loop = 1; }
If (loop = 1) {
motor1.step(step,direction,SINGLE); delay(1000);
motor2.step(step,direction,SINGLE); delay(1000);
Servo1.write(180);delay(1000);
Servo1.write(90);delay(1000);
Servo1.write(0);delay(1000);
REPEAT FOR REMAINING SPHERES

53. CONTROL Arduino Motor Shield v2.3 Arduino Uno R3 Computer Power IDE
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons

54. CONTROL 2 Stepper Motors Uni-polar Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
6 wires
2 windings
Must find common and ground

55. CONTROL 2 Stepper Motors Bi-polar Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
4 wires
2 windings
No ground

56. CONTROL 1 Arduino Servo Motor Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Yellow: Signal/control
Red:Power
Black: Ground

57. CONTROL 2 Micro Switches Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Yellow(NO): Signal
Red(C): Power
Black: Ground
Pull down resistor

58. CONTROL 2 Push Buttons Arduino Uno R3 Computer Power IDE
Arduino Motor Shield v2.3
2 Stepper Motors
Uni-polar
Bi-polar
1 Arduino Servo Motor
2 Micro Switches
2 Push Buttons
Red: Power
Black: Ground
Pull-down resistor
Yellow/Green: Signal

59. SYSTEM

60. SYSTEM Z y X
Step resolution is increased from 1.8 degrees/step on the motor shaft to .45 degrees/step via [1:4] gear ratio
This allows for high accuracy for sphere acquisition and release to target locations

61. SYSTEM

62. SYSTEM Z y X
The change in (x,y) with one step of each motor with a resolution of .45 degrees/step
ΔX = 2.7 [mm]
ΔY = 0.5 [mm]

63. SYSTEM Z y X
Homing switches reside directly on the Y-axis and serve as the robots home position
This defines the (0,0) position of the coordinate plane

64. RAPID PROTOTYPING
Upload solid model into Catalyst
Pack model

65. RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost

66. RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost

67. RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost

68. RAPID PROTOTYPING Determine Model Material Support Material Run Time
Cost

69. RAPID PROTOTYPING

70. MECHANISM MANUFACTURABILITY

71. BUDGET - Design DESIGN AND ANALYSIS Subsystem Teammate Time (Hours)
Hourly Rate
Total Cost
Entire System
Christina Avery Callahan 69
$10.00
$690.00
Trenton Madden
107
$1,070.00
Hung Pham 66
$660.00
Kaitlin McNeill 56
$560.00
Michael Wagner 46
$460.00

72. Cost of Parts and Supplies
BUDGET - Base
Cost of Parts and Supplies

73. BUDGET - Base
Cost of Labor

74. Cost of Parts and Supplies
BUDGET - Rotary Axis 1
Cost of Parts and Supplies

75. BUDGET - Rotary Axis 1
Cost of Labor

76. Cost of Parts and Supplies
BUDGET - Rotary Axis 2
Cost of Parts and Supplies

77. BUDGET - Rotary Axis 2
Cost of Labor

78. BUDGET - Gripper Assembly
Cost of Parts and Supplies

79. BUDGET - Gripper Assembly
Cost of Labor

80. Cost of Parts and Supplies
BUDGET - Control
Cost of Parts and Supplies

81. BUDGET - Control
Cost of Labor

82. BUDGET - Total Total Parts Cost $457.77 Total Labor Costs $4,560.00
Projected Robot Cost
$5,017.77

83. SUMMARY AND FUTURE PLAN

85. QUESTIONS?