Astro the Rover. Olympus Mons Rover Team

Transcription

1 Astro the Rover Olympus Mons Rover Team

2 Purpose: Design a robotic vehicle capable of performing tasks for a sample return mission within the parameters and requirements of the University Rover Challenge.

3 University Rover Challenge: International robotics competition for college students. Held annually in the desert of southern Utah Challenges engineering students to design and build the next generation of Mars rovers that will one day work alongside astronauts exploring the Red Planet.

4 Mars Science Laboratory Curiosity Rover Features: 6 Wheel Rocker Bogie Suspension 20 in Diameter Cleated Wheels Independent Wheel Steering Science Analysis Tools 5 DOF Arm Stowage System Mars Exploration Rover Opportunity Features: 6 Wheel Rocker Bogie Suspension 1.5 m x 2.3 m x 1.6 m Independent Wheel Steering Safely Operational at 30 (max) 5 DOF Arm Stowage System Literature Survey

5 PHASE 1 PRELIMINARY DESIGN: Olympus Mons Rover Team shall generate a list of key components and modules for baseline approach. PHASE 2 DETAILED DESIGNS: Olympus Mons Rover Team shall finalize optical, mechanical, and electrical design. PHASE 3 MANUFACTURING: Olympus Mons Rover Team shall create any necessary manufacturing documentation and procedures. PHASE 4 TESTING AND INTEGRATION: Olympus Mons Rover team shall assist in creating a smooth, logical, and efficient work flow. Statement of Work

6 Project Schedule

7 Team Captain: Christopher Nguyen Chassis: Jerame Taylor Robotic Arm: Lauren DuCharme Suspension: Ken Greene Wheels Assembly: Greg Maisch Telemetry/Visual Systems: Maria Gutierrez Weight Distribution Yolanda Mora MelanieValenzuela Quy Tran Chris Thompson Matt Wolfenden Daniel Lu Nathan Johnson Carissa Pariseau1 Accommodating Payload Arm Design Grippers Rocker Bogey System Rocker Arms Protecting Gear Box and Motor Connecting Wheels to Assembly Optics and Moveable Visual System Camera Orientations GPS Team Structure

8 Design Parameter Requirement Entire Vehicle Weight < 50 kg Vehicle Volume < 1 m 3 Vehicle Width < 32 in Functional Temperature Range Up to 110 F Minimum Lift Capacity 5 kg Movement Control Wireless/Remote Control Minimum Reach Capability 5 cm below ground Science Tools ph and humidity meter Video Feed Wireless Frequency Band 900MHz-2.4GHz A-Specs

9 ION Rover 2014 Features: 6 Individually controlled wheels Rocker bogie suspension 7.5 in diameter RC wheels 3 DOF Arm Closed loop feedback system

10 ION Rover 2015 Concepts

11 2014: Used square wood base with aluminum channel siding Electronics not protected from environment Limited space Structurally unstable and weak Chassis Design Concepts

12 Function Possible Solution Provide Support to Vehicle C-Channel Bar-Stock Flat, Solid Tubing Maintain Shape and Strength Aluminum Steel Plastic PVC Carbon Fiber Maneuverable Rectangular Box Circular Octagon Square Provide Space for Arm and Electrical Components Flat Bi-Level Chassis Morph Chart

13 2015: Aluminum frame with aluminum base plate Bi-level design More easily accommodates electronic components Second level could act as cover to protect components from dust or rocks Change in shape to prevent wheel or suspension interference Final Design Concept

14 2014: Rocker bogie suspension (2 rocker arms/2 bogies) Middle wheel slippage Low vertical travel abilities Bulky and underoptimized Suspension Design Concepts

15 Function Possible Solution Support Chassis Weight 8 wheels 6 wheels 4 wheels Smooth Pivot Points Bearings Bushings None Rocker Length within A-Specs Bogie Length within A-Specs Attachable to Assembly 4 Bolt Pattern Single Post Free Single Post Fixed Support Load 0.25 Tall Tall 0.50 Tall Maintain Shape and Minimize Deflection Thick 0.25 Thick Thick Suspension Morph Chart

16 2014: Differential link Heim joint had too much play Under-designed Difficulties with alignment and concentricity on rotational point Suspension Design Concepts

17 Function Possible Solution Differential Type Differential Link Shaft (3 Bevel Gears) Shaft (4 Bevel Gears) Shaft Diameter Bevel Gear Ratio 1:1 2:1 1.5:1 Shaft Material Carbon Fiber with Aluminum Ends Full Aluminum Full Carbon Fiber Mating Mechanism Keyways Set Screws Spring pins Suspension Morph Chart

18 2015: Rocker Arm and Bogie Optimized for weight and strength Even weight distribution across wheels Clearance for 90 departure and approach Final Design Concepts

19 2015: Shaft with bevel gears 1:1 rotational ratio in rocker arm Improved concentricity difficulties More easily manufactured Final Design Concepts

20 Wheels Design Concepts 2014: Modified 1/5 scale RC wheels Non-pneumatic tires Required custom components Lacked motor adapters Non consistent compliance with substrate Bulky assembly Sufficient traction

21 Function Possible Solution Maintain Traction Rubber Cleats Pneumatic Foam and Tread Meet Size Requirements 8 in 10 in 9.5 in Motor Placement Protects Power System Gearbox Away from Wheel Gearbox Above Wheel -- Should be Light Weight Rubber Aluminum Stainless Steel Must be Easy to Manufacture Single Piece Aluminum Configuration Pocketed Single Piece Aluminum Configuration Separately Machined Aluminum Plates Wheels Morph Chart

22 2015: Custom Wheel 10 in diameter Not pneumatic More compact Light weight Elevated motor and gearbox Helps prevent damage from rocks and dust Lower rotational inertia Final Design Concept

23 2014: 3 DOF Planar Arm Simple control system forward kinematics Limited range of motion Insufficient strength to complete URC requirements Incapable of stowing Robotic Arm Design Concepts

24 Function Possible Solution Control and Power Systems Linear actuator Servo Stepper Motor Closed loop linkage Must Attach to Gripper Interface Bracket Directly Mounted Removable Linkage Ball screw joint Should Be Stowable Pre-Programmed Upward Configuration Pre-Programmed Downward Configuration Manual Upward Configuration Manual Downward Configuration Length Must Have Sample Collection Reachability Workspace Must Allow for Task Completion Below Above Adjacent to the chassis All the above End Effector Must Have Position Capabilities Linear actuator Servo Stepper Motor Ball screw Must Be Mounted to Chassis Top Bottom Center Rear Arm Morph Chart

25 2014: 2 finger parallel gripper Insufficient range of motion Lack of friction grip abilities Insufficient strength to complete URC task requirements Single end effector not optimized for each task End Effector Design Concepts

26 Function Possible Solution Multi-Task Functionality Removable Gripper Fingers Removable Gripper Removable Final Linkage w/ Gripper Sample Collection Capability Scooping Jaws Sample Coring Drill Sample Coring Probe Sample Containment Capability Glass Beaker on Top of Chassis Canvas w/ Framing on Side of Chassis Bag Attached to Gripper ph Analysis Capability ph Cards in Sample Receptacle ph Probe in Sample Receptacle Electronic ph Sensor w/ Arduino Humidity Analysis Capability ph Cards in Sample Receptacle Humidity Probe in Sample Receptacle Electronic Humidity Sensor w/ Arduino Astronaut Assistance Capability 3 Finger Gripper with Independent Control 3 Finger Gripper with Overall Control 2 Finger Gripper Servicing Task Capability Re-use Astronaut Assistance Gripper Conveyer Belt Finger Gripper 3 Finger Angled Gripper End Effector Morph Chart

27 2015: 3 DOF Planar Arm Larger workspace to accommodate multiple tasks Utilizes 4 bar linkage with linear actuator Configuration can be stowed to prevent damage during terrain traversing Final Design Concept

28 Final Design Concepts 2015: Complete redesign that features custom grippers for each task Longworth chuck Equipment servicing task Knurled fingers for added grip Single finger actuation gripper Astronaut assistance Encompassing grip for handles and object retrieval Sample collection scoop Sample return task Bulk sampling and collection

29 2014: Telemetry system Individually controlled wheel Single Camera Visual via FPV Unstable pan/tilt servos Lacked Visual Clarity Telemetry Design Concepts

30 2015: Arduino Mega: 54 I/O Pins, Input Voltage: 7-12V Arduino Uno: 16 I/O Pins, Input Voltage: 7-12 V HS-5685MH Servos (end effectors min. 3): Operating Voltage: V Radio Frequency: Video feed: 5.8 GHz Control: 2.4 GHz Antenna: (Cloverleaf & Air Max Bullet) Power Rating: up to 24V Final Design Concepts

31 Features: 6 Wheel Rocker Bogie Suspension 10 in Diameter Cleated Wheels Independent Wheel Steering 3 DOF Arm with 3 Custom Grippers ION Rover

32 Jesse Grimes-York Brett Kennedy Jet Propulsion Laboratory Dr. Nina Robson Dr. JiDong Huang Ye Daniel Lu CSUF Electrical Engineering Student CSUF Geology Department CSUF Electrical Engineering Department CSUF ION Website Design Team Acknowledgements