2. Outline Background First Semester Work Mechanical  Overall  Base  Shoulder  Elbow  Wrist  Poker Electrical  Control System Outline  Microcontroller  Motor Controllers  Control Interface

3. Background RLEP – NASA sponsored program to develop small scale robotics to aid in exploring the lunar surface Purpose: Design a robotic manipulator device capable of effectively breaking through hard soil and chipping rocks. Moonavators Team - 6 members

4. K-10 Rover

5. First Semester Work L07 redesign  Stiffen arms  Add gearing to remove slop from system Research/ Initial development

6. M08 Robot

7. Base Direct Drive Motor Housing Provide polar motion to robotic arm Friction free motor

8. Shoulder Motor and gearbox are paired High torque, light weight Controls vertical arm movement

9. Elbow Small motor high torque, low speed 60:1 gearbox for increased torque Increase the precision of linear positioning

10. Wrist Small motor high torque, low speed 120:1 gearbox for increased torque End effecter positioning

11. Shovel Scooping Pushing Lifting Impact Force

12. Percussive Poker Development

13. Poker Purpose to chip rocks and break hard soil Fracture with quick and repeated impact Double impact cam action High speed low torque motor Heat treated components

14. Electrical

15. Control System Outline User interface  Playstation controller Microcontroller  Rabbit 4110 microprocessor Types of motor controllers  BLH 450, shoulder motor  B15A8N, base motor  BH-25, elbow, wrist, poker motors

16. Microcontroller Rabbit 4110  Replaces Two Basic Stamp’s, Mini-ITX

17. Motor Controllers BLH 50 K (Oriental Motor Co.)  Shoulder motor B15A8N (Advanced Motion Control)  Base motor HB-25 (Parallax)  Elbow, Wrist, Poker motors

18. Control Interface Human user interface  Playstation controller Serial port interface  Can be externally controlled via serial port

19. Thank You NASA Ames NASA Idaho Space Grant Consortium Mentors:  Aaron Goodin  John Lacy Russ Porter UI Faculty: Steve Beyerlein, Jean Teasdale, Dave Atkinson, Becky Highfil, and others.