NASA Lunabotics Competition BP-1 Excavating Autonomous Rover Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel Greenberg Dr.
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1 BP-1 Excavating Autonomous Rover Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel Greenberg Dr. Ramesh Varahamurti
2 Team Members and Faculty Advisor Team Members (From Left to Right) Ross Botsauce Bailey Andrew TT Showbiz Bolton Evan Christmas Carroll Ben Magic Beard Bennett Nathaniel Jazz Hands Greenberg Nalin Rampage Randeniya Faculty Advisor Dr. Ramesh The Hurricane Varahamurti
3 Industrial Sponsors
4 Background Excavation is a necessary first step in living off of the land Oxygen extraction Habitat foundation New concepts for excavation technologies needed
5 Background LunArena 10 minute run Minimum of 10 kg Rocks and craters
6 Problem Definition Requirement Engineering Specification Metric Method/Device Target Condition Inclusive of all Lightweight Vehicle Mass kg Scale < 80 kg parts Compact Size m Tape Measure < 1.5m x.75m x.75m Starting Footprint Amount of BP-1 mined Mass kg Scale > 10 kg During 10 min Communications Average Bandwith kb/sec Bandwidth Test Software -1/50 kb/sec As minimal as possible Set-up Time min Stopwatch < 10 min By trained team members By trained team Removal Time min Stopwatch < 10 min members
7 Design Solution
8 Design Solution
9 Design Solution
10 Design Solution
11 Autonomous Control
12 Fabrication
13 Testing Emergency Stop button As a requirement ø > 5 cm Maneuverability and Mining capability 10 kg BP-1 collection capability Targets Dust reduction Bonus points
14 Testing List of Experimental Tests 1. Set-up and Power-up 2. E-Stop Verify 3. Maneuverability and Digging Controls kg Remote Trial Run 5. Dust Mitigation
15 Testing E-stop Verification Test
16 Testing Maneuverability and Digging Controls
17 Testing
18 Testing 10 kg Sand Collection Trial Run
19 Testing Dust Mitigation
20 Testing Results Review TEST Set-up and Power-up E-Stop Verification Maneuverability and Digging Controls 10 kg Sand Collection within 10 minutes Dust Mitigation STATUS Successful Reliable Smooth and Accurate Achieved Satisfactory
21 Final Budget Sources of Funding: Industrial Sponsor NASA Mission Directorate $ 3, Donations Total Donations $1, Sponsors Transfer Flow A Main Hobbies Galil Dimension Engineering Royal Printing Total Material Donated $ 2, Donated Labor Transfer Flow Manufacturing: The Frame The Lever Arm The Wheels Estimated hour of donated labor/ Approx. employee wage ~ 45 hrs x $40/hr = $
22 Final Budget Receipt Number Date Purchased Supplier Part Number Part Description Quantity /18/2012 Amazon.com B000N9PJ7W /18/2012 Amazon.com VPATC30 Orchard Supply /18/12 Hardwear /18/ /18/ /18/ /17/ /17/ /17/ /17/12 Orchard Supply Hardwear Orchard Supply Hardwear Orchard Supply Hardwear Orchard Supply Hardwear Orchard Supply Hardwear Orchard Supply Hardwear Orchard Supply Hardwear All Metals /4/ /4/12 Cost Each Subtotal Total Seachoice ATO / ATC Fuse Block 10 Gang Bussmann VP/ATC Amp Faast Acting Blade Fuse, MCH SCR-RND 8-32x EXT SPRING 2-3/8" /2" ZN LT NAR B " OD LEG TIP T-10 TORX DRIVER MCH SCR-RND 8-32x HEX MACH NUT WASHER SAE #8 ZINC Supply FL T6 1/8 x 4 FLAT ALUMINUM All Metals 6061-T6 1 x 1x.065 SQ TUBE Supply ST480-WW065 ALUMINUM
23 Receipt Number Date Purchased Final Donated Budget 1/25/12 Donated 1/25/12 Donated 1/25/12 Donated 1/25/12 Donated 1/25/ /1/12 2/4/ /17/ /4/ /4/ /4/ /4/12 Donated 2/23/12 Supplier NASA Donated Lunabotics 2/23/12 Competition Donated 2/23/12 Part Number Part Description Quantity Cost Each Subtotal A Main Hobbies LOSB7240 LOSI Nomad Tire Set (2) A Main Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) A Main Hobbies LOSB3227 Wheel Nuts, Blue Anodized (4) A Main Hobbies LOSB7028 Beadlock Set, Inner & Outer (2) A Main Hobbies LOSB3224 Fr/R Stub Axle & Pins (1) Home Depot Bosch DDS Amazon.com Bosch DDS McMaster Carr 5912k4 Aluminum Bronze Bearing 1/2 Diameter Dimension Sabertooth Engineering 2X25 Sabertooth dual 25A motor driver Orchard Supply Hardwear ALUMINUM ROUND RD Orchard Supply Hardwear BRONZE BEARING 1/ Orchard Supply Hardwear /2 ALUMINUM ROD Orchard Supply Hardwear BRONZE BEARING 1/ Orchard Supply Hardwear RBR WASH 5/8X2X1/ A Main Hobbies LOSB7240 LOSI Nomad Tire Set (2) Total A Main Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) A Main Hobbies LOSB7027 Wheel and Beadlock Set (2) A Main
24 Receipt Number Final Budget C-1203-S1593 3/16/12 Date Purchased Supplier Part Number Part Description STOCK DRIVE PRODUCTS /20/2012 Depot Quantit y Cost Each Subtota l Total A 1C 2- N24144 GEAR SP.24P.ST. 6inDP(US) STOCK DRIVE PRODUCTS A 1C 2N24012 GEAR SP.24P.ST. 0.5in DP(US) C-1203-S1593 3/16/12 Steel Finished-Bore Roller Chain Sprocket, for # /19/12 McMaster Carr 2737T1 Chain, 1/4" Pitch, 9 Teeth, 1/4" Bore Steel Finished-Bore Roller Chain Sprocket, for # /19/12 McMaster Total Carr 2737T151 Cost Chain, of 1/4" Pitch, Robot 23 Teeth, 1/4" Bore : Black-Oxide Alloy Steel Socket Head Cap Screw, /23/12 McMaster Carr 91251A359 Thread, 2-3/4" Length, Packs of /23/12 McMaster Carr 8632T132 D-Profile Shaft, 1045 Steel, 1/4" OD, 6" Length /23/12 McMaster Carr 6261K108 #25 Connecting Link for, Standard ANSI Roller Chain Donated Galil DMC-2183 Galil Motion Controller Galil ICM Interconnect with Optoisolated I/O Arduino $ ATmega328 1, Arduino Uno Microcontroller Microsoft Microsoft XBOX Kinect Sensor NTC SPST RELAY SBR Rubber Edge Trim, 3/32" Opening, 21/64" Inside /24/ K14 McMaster Carr Depth /24/ T85 Push-on Corner Cap, fits 1/8" to 3/16" Thickness, Black McMaster Carr /24/2012 McMaster Carr N/A /21/2012 4/21/ /14/ /20/ /20/2012 Orchard Supply Hardwear Orchard Supply Hardwear The Home Depot The Home Depot The Home The Home Depot Shipping Expense NYLN LKNT MCH SCR-RD 8-32x x24 LEXAN XL HONDA FILTER HACKSAW x24 LEXAN XL
25 Final Budget
26 Final Budget Labor: Semester Total Man Hours Average Engineering Wage Amount Fall Spring 1271 $40/hr $ 50, $40/hr $ 65, Total: $ 116,120.00
27 Final Budget Total Project Cost Estimate: $ 121,028.55
28 Reflection Unique Problems encountered Drill Motors were a challenge to mount Tolerances on shafts, bearings, and couplers Merits of the Design Solution Drill Motors, Custom Wheels, Battery Counterweight, and Simple Design Suggestions for the future Suspension and Steering
29 Conclusion Special Thanks to Mike Lorroco Ready for Competition!
30 Questions?
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