ECE 480 Design Team 1 Autonomous Docking of NASA Robotic Arm.
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Transcript of ECE 480 Design Team 1 Autonomous Docking of NASA Robotic Arm.
ECE 480 Design Team 1ECE 480 Design Team 1
Autonomous Docking of NASA Autonomous Docking of NASA Robotic ArmRobotic Arm
The TeamThe Team• ManagementManagement
Nick TokarzNick Tokarz (Electrical)(Electrical)• Document Preparation Document Preparation
Joesph Baumgardner (Computer)Joesph Baumgardner (Computer)• Web MasterWeb Master
James Marus (Computer)James Marus (Computer)• Lab CoordinatorLab Coordinator
Truc Nguyen (Computer)Truc Nguyen (Computer)• PresentationPresentation
Kacy King (Mechanical)Kacy King (Mechanical)• Lab Coordinator Lab Coordinator
Keith Ortman (Mechanical)Keith Ortman (Mechanical)
Facilitator – Karim Oweiss Industrial Sponsor - Michael Comberiate
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
BackgroundBackground
Previous Team’s WorkPrevious Team’s Work Started in 2004 Started in 2004 Six-degree-of-freedom robotic Six-degree-of-freedom robotic
armarm Control systemControl system Electromagnetic end effectorElectromagnetic end effector AUTONOMOUS DOCKING IS AUTONOMOUS DOCKING IS
CURRENTLY NOT FEASIBLE CURRENTLY NOT FEASIBLE
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Customer Requirements Customer Requirements Create autonomous docking routineCreate autonomous docking routine Addition of proximity sensors to the end effectorAddition of proximity sensors to the end effector Improving the GUIImproving the GUI Adding a planetary gear box at the elbow jointAdding a planetary gear box at the elbow joint Fixing the connectors to the printed circuit boardFixing the connectors to the printed circuit board Replacing the joystickReplacing the joystick Additional ObjectivesAdditional Objectives
Making the arm controllable via the internet Making the arm controllable via the internet Developing a new base for the robot arm.Developing a new base for the robot arm. Tightening the arm joints Tightening the arm joints Mounting a USB camera to the end effectorMounting a USB camera to the end effector
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Why Autonomous Docking?Why Autonomous Docking?
Time delay between user interface and Time delay between user interface and actual movementactual movement
Close quarter collision avoidanceClose quarter collision avoidance Inhospitable environmentsInhospitable environmentsPrecision Precision
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Necessary ImprovementsNecessary Improvements
Improvements needed for autonomous Improvements needed for autonomous docking docking Unpredictable arm movementsUnpredictable arm movementsMechanical deficiencies Mechanical deficiencies Unfriendly user interfaceUnfriendly user interface Inverse kinematics Inverse kinematics
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Mechanical SupportMechanical Support
Design new steel constructed Design new steel constructed basebase
Tighten keyway jointsTighten keyway joints Improve existing motor mountsImprove existing motor mountsGeneral mechanical supportGeneral mechanical supportReplace servo motor hornReplace servo motor horn
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Mechanical Work Mechanical Work
Motorized gear boxMotorized gear boxMaximum motor torque 700 Maximum motor torque 700
gm-cmgm-cmVarious combinations of Various combinations of
planetary gears to achieve planetary gears to achieve desired output torque.desired output torque.
Mount new gear boxMount new gear boxMount camera and proximity Mount camera and proximity
sensorssensors
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Autonomous DockingAutonomous DockingDistance from the docking station and Distance from the docking station and
Angle of insertionAngle of insertion Infrared proximity sensorsInfrared proximity sensors Intensity of light determines analog outputIntensity of light determines analog outputOutput is sent to an analog to digital converterOutput is sent to an analog to digital converterDigital output is sent to software to be Digital output is sent to software to be
analyzedanalyzed
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Autonomous DockingAutonomous Docking
Orientation of object to be dockedOrientation of object to be dockedRetro-reflective sensorsRetro-reflective sensorsLight sent out hits retro-reflective tape and is Light sent out hits retro-reflective tape and is
sent directly back to the sourcesent directly back to the sourceTape will be placed in strategic locations in Tape will be placed in strategic locations in
order to align the object correctlyorder to align the object correctly
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
SoftwareSoftware
Joystick modificationJoystick modificationChange from force feedback Change from force feedback
Autonomous dockingAutonomous dockingGUI improvements GUI improvements Remote control via internet Remote control via internet
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Design ProcessDesign Process
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
Risk Analysis Risk Analysis
Power consumptionPower consumptionAdequate torqueAdequate torqueArm speedArm speedSensor accuracy and precision for Sensor accuracy and precision for
successful autonomous dockingsuccessful autonomous dockingCost of sensors Cost of sensors TimeTime
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs
ConclusionConclusion
Team 1 – Autonomous docking of Robotic Arm
Continue development and improvement of arm
Implement autonomous docking
Background
Customer Requirements
Autonomous Docking
Conclusion
The Team
Conceptual Designs