MECH 486A - Senior Design Practicum Critical Design Review. Annemarie Kibbe, Cameron Ghia, Jiaxin Zhao, Mark Stratford, Michael McMann, Ryan Jensen

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1 MECH 486A - Senior Design Practicum Critical Design Review Annemarie Kibbe, Cameron Ghia, Jiaxin Zhao, Mark Stratford, Michael McMann, Ryan Jensen 1

2 Content Introduction Design Problem Analysis Design Summary Final Concept Validation/Testing Plan Term-II Work-Plan 2

3 Introduction-RoboCup RoboCup is an international robotic competition, its goal is to advance AI development and machine learning. This competition was initialized at 1993 in Tokyo Japan. RoboCup contains multiple categories, such as rescue, industrial and soccer. This year, we will attend the Small Size League Soccer category. RoboCup is an international scientific initiative with the goal to advance the state of the art of intelligent robots. When established in 1997, the original mission was to field a team of robots capable of winning against the human soccer World Cup champions by RoboCup Federation 3

4 Small Size League Overview To build a team of autonomous robots that are able to compete in the RoboCup soccer competition These robots should fit the specifications listed in the RoboCup handbook 4

5 Design Analysis-Objectives Objective Importance Rating (1-4) Method of Measurement Objective Direction Target Justification Solenoid Design for Force 4 Striking Force (N) Ball Velocity (m/s) Maximize Kicks a ball at 8 m/s (maximum) Rules of Competition Chassis Design for Strength 3 SolidWorks Simulation, FEA Analysis, Point Force Testing Maximize Withstand Impact of 43 mm ball at 24 m/s. Withstand Impact of robot at 16 m/s Durability, unknown impact factors, Weight of 5 kg Motor Selection 2 Torque to RPM ratio Optimize Enough Torque to drive Rule of 5 kg robot at 8 m/s Competition (8 m/s max, but allowable below) Reduce Weight 1 Material Selection for high-strength to weight ratios Maximize 5 kg or less. Withstand Impacts of ball and other robots 5

6 Design Analysis-Constraints Constraint Method of Measurement Limits Size of Robot Housing Size Test (mm) Rules of Competition (180mm diameter x 150mm tall) Robot Identification Multi-Colored disks on top of bot Rules of Competition, each bot-different array of colored disks, Vision System Speed of Travel Bot Velocity (m/s) Rules of Competition, max bot velocity and ball from bot velocity 8 m/s Time of Play Timer (sec) 2 rounds of 10 min each per game Potentially 6 games 6

7 Design Summary Steps of Designing the Robot Model Reviewing Competition Guidelines Literature Review of other Teams Models Construction of CAD Model Solenoid (kicking/chipping mechanism) Base Plate Motor Components Electrical Components FEA/Circuitry Testing 7

Final Concept Geometric Modeling Solenoid System 2 Solenoid Kicking/Chipping System Upper pulls for chipper arm Lower pushes to kick ball Dual Material

8 Final Concept Geometric Modeling Solenoid System 2 Solenoid Kicking/Chipping System Upper pulls for chipper arm Lower pushes to kick ball Dual Material Shafts for Optimal Magnetic Motion Dribbler system attached to front of Solenoid Plates Maintains ball control Largest space constraint amongst parts 8

9 Final Concept Geometric Modeling Base Plate Mounting holes for front mechanisms Gears positions Mounting holes for solenoid Mounting holes for gear-wheel mounting system Four wheels positions Second floor supporting beam 9

Final Concept Geometric Modeling Motor Components Supported by the 3D printed motor mount 22 tooth gear is attached to the motor shaft Mated to the

10 Final Concept Geometric Modeling Motor Components Supported by the 3D printed motor mount 22 tooth gear is attached to the motor shaft Mated to the 80 tooth gear Large gear connect to the omni wheel with a 4 mm axle Axle is supported by 2 bearings that lie just inside the face of the motor mount 10

11 Final Concept Geometric Modeling Electrical Components U1-1.5-A Peak Boost/Buck/Inverting Switching Regulator D1 & D2 - Schottky Diodes C6 - Timing Capacitor C1 & C2 - Low Pass Filter T1, D2, & R6 - Driving Circuit, Ensures R7 & R8 - Creates a feedback system to control port 2 C5 - Absorbs small irregularities in feedback C7 & C8 - Capacitor Bank L4 - Inductor to resist changes in current 11

12 Final Concept FMEA/Risk Analysis Part Potential Failure Prevention Gears No longer meshing Calculations and Testing Chipper Impact force on the linkage system FEA Analysis Solenoid Bracket Fatigue FEA Analysis Solenoid Coil Wire Melting Physical Testing Gear carpet interference Snagging of gear teeth on carpet Gear Cover Shell Impact force FEA Analysis Supporting beam Weight stress FEA Analysis 12

13 Final Concept Design for X as Applicable to Your Project Reliability These robots must be able to perform to the specifications required in the RoboCup rulebook Manufacturability The tooling required is available The design can be assembled with relative ease multiple times Longevity These robots need to continue to work for the next few years Affordability Safety 13

14 Final Concept - Budget Proposed Budget $ 4, Running Total $ 3, Remainder $ Biggest Cost- Maxon Motors (x36) $ 2, Other Amount Aluminum Plates $ $ Hubs $ $ Miscellaneous $ Total Other Remainder After Quantity Total $ $ $

15 Final Concept Lean Techniques Andon Original Design Value Stream Map Work Breakdown Structure Muda- reduce waste Monitor and Control Kaizen 15

16 Validation/Testing Plan Test Description Components Validation Structural Tests Structural tests in FEA to examine deflection of vital components. Base plate, Solenoid holder, and chipping mechanism Less than 1mm of deformation Physical Tests Using digital multimeters, the speed and torque can be measured. Dribbler motor and wheel motors Move as quickly and as powerfully as possible Circuit Tests The electrical team will do various circuit testing through circuit simulation Robot circuitry Reliable and vibration proof Solenoid Tests Tuning the power of the solenoid using a flux meter Solenoid and kicker circuit Powerful enough to accelerate ball at 8 m/s Speed Tests Speed measured as a function of distance over time Wheel motors and solenoid shooting power Components travel at 8 m/s 16

17 Term II Work-Plan Literature Review CAD/ FEA Critical Design Review Manufacture Testing Qualify 17

18 Thank you 18

SSH Team Description Paper for RoboCup 2015

SSH Team Description Paper for RoboCup 2015 Thijs Emmerink, Rob van den Berg, Joost Overeem, Thomas Hakkers, Jeroen de Jong, Jasper van Ommeren, Ryan Meulenkamp Life Science, Engineering & Design Applied