Golf Swing RobotGolf Swing Robot

EE 486 Project PresentationEE 486 Project Presentation

College of Engineering and Technology

Presented by Nasser Almarri

EE SubdivisionEE Subdivision

CoordinatorCoordinator John BoringJohn Boring LeaderLeader Nasser AlmarriNasser Almarri EditorEditor Charlie SikoCharlie Siko

Faculty Advisors: Faculty Advisors: Prof. Jerry HatfieldProf. Jerry HatfieldDr. Walter HopkinsDr. Walter Hopkins

Outside Project AdvisorOutside Project Advisor Eng. Art MittendorfEng. Art Mittendorf

Presented by Nasser Almarri

OutlineOutline

Project OverviewProject Overview System Block System Block

DiagramDiagram Design ChangesDesign Changes VISUAL BASIC GUIVISUAL BASIC GUI Prototype TestingPrototype Testing

EncoderEncoder Cost Cost ScheduleSchedule TasksTasks Launch MonitorLaunch Monitor GUI IntegrationGUI Integration

Presented By Nasser Almarri

Project’s SponsorProject’s Sponsor

Presented by Nasser Almarri

Project OverviewProject Overview

Design, Implement, and Assemble Design, Implement, and Assemble an EE subsystem of the Golf an EE subsystem of the Golf Swing Robot.Swing Robot. Read From the Launch MonitorRead From the Launch Monitor Read /Write to and from the controllerRead /Write to and from the controller Controller is monitoring the encoderController is monitoring the encoder

Design Visual Basic GUI between Design Visual Basic GUI between Controller and computer.Controller and computer.

Design Visual Basic GUI between Design Visual Basic GUI between the Launch Monitor and computer.the Launch Monitor and computer.

Presented by Nasser Almarri

EncoderLaunch Monitor

Controller PC

System Block DiagramSystem Block Diagram

Presented by Nasser Almarri

ETHERNET

Serial Port

DriveDigital Torque

Amplifier

To Servo Motor

Design ChangesDesign Changes

We will not assemble a We will not assemble a complete ROBOTcomplete ROBOT

ME Team Switched to a ME Team Switched to a PAPER designPAPER design

We designed the EE We designed the EE subsystemsubsystem

We are building and We are building and testing the EE subsystem testing the EE subsystem onlyonly

Presented By Nasser Almarri

Visual basic GUIVisual basic GUI

Presented By Nasser Almarri

Prototype TestingPrototype Testing

PC Interface w/ PC Interface w/ ControllerController

VB GUIVB GUI Text file - Yterm2000Text file - Yterm2000

Encoder PositionEncoder Position Data Collection Data Collection

Direct w/ ControllerDirect w/ Controller

PC Interface w/ PC Interface w/ Launch MonitorLaunch Monitor

VB GUI VB GUI Raw data filesRaw data files

Presented by John Boring

Launch Launch MonitorMonitor Works with Golf Achiever Works with Golf Achiever

softwaresoftware Connects with computer by Connects with computer by serial port cableserial port cable Outputs velocity and launch Outputs velocity and launch angleangle Used to optimize a golfer’s Used to optimize a golfer’s clubsclubs

Presented by John Boring

Software InterfacingSoftware Interfacing

Visual Basic GUI Visual Basic GUI Two separate software Two separate software

Yterm2000 Yterm2000 Golf AchieverGolf Achiever

One PC will be usedOne PC will be used Multiple ConnectionsMultiple Connections Shared GUIShared GUI

Presented by John Boring

Potential Problem Potential Problem & Solution& Solution

Multiple Hardware Multiple Hardware Port / connection problemPort / connection problem

ControllerController Ethernet connectionEthernet connection

Launch MonitorLaunch Monitor Serial port connectionSerial port connection

Presented by John Boring

Integrating the Monitor Integrating the Monitor & the GUI& the GUI

Methods to use Golf Methods to use Golf Achiever SoftwareAchiever Software Capitalize on Raw Capitalize on Raw

Data functionsData functions Open Raw Data FileOpen Raw Data File Save Raw Data FileSave Raw Data File

Open those files from Open those files from inside VB GUIinside VB GUI

Presented by John Boring

Monitoring Elbow Monitoring Elbow PositionPosition

Presented by Charles Siko

Background on Background on EncodersEncoders

Used to determine positionUsed to determine position Many typesMany types

Linear/RotaryLinear/Rotary

Absolute: each position is uniqueAbsolute: each position is uniqueIncremental: position is relative Incremental: position is relative

Magnetic: durable, lower resolutionMagnetic: durable, lower resolutionOptical: high resolution, high speed Optical: high resolution, high speed

Presented by Charles Siko

Absolute EncodersAbsolute Encoders Singleturn- 360Singleturn- 360° is divided into digital values ° is divided into digital values Multiturn-in addition to the coded disk this includes an Multiturn-in addition to the coded disk this includes an

integrated gear which can count multiple revolutionsintegrated gear which can count multiple revolutions

Typical OutputsTypical Outputs

Presented by Charles Siko

Presented by Charles Siko

Choice 1: BEI optical absolute encoder

$680.00

Choice 2: Netzerprecision electrical absolute encoder

Presented by Charles Siko

$75.00**

Cost - Cost - electrical subdivision electrical subdivision $7000 limit$7000 limit

ItemItem ~ Price~ Price SupplierSupplier Purchase DatePurchase Date

Launch Launch MonitorMonitor

providedprovided SponsorSponsor N/AN/A

Motor Motor ControllerController

$569$569 YaskawaYaskawa 3/3/033/3/03

Motor DriveMotor Drive $3680$3680 YaskawaYaskawa 3/3/033/3/03

EncoderEncoder $700$700 Netzerprecision/Netzerprecision/BEIBEI

3/3/033/3/03

AccessoriesAccessories $250$250 Domestic Domestic productsproducts

As neededAs needed

SoftwareSoftware $500$500 YaskawaYaskawa As neededAs needed

Presented by Charles Siko

ScheduleSchedule

Important DatesImportant Dates 3/3-3/4 3/3-3/4  Finishing up Draft Status ReportFinishing up Draft Status Report   3/53/5 Draft Status Report DueDraft Status Report Due   3/5-2/93/5-2/9 Work on Final Status ReportWork on Final Status Report 3/9-4/13/9-4/1 Work on WebsiteWork on Website   4/14/1 Final Presentation DayFinal Presentation Day

Presented by Charles Siko

TasksTasksThis week:

Charlie - Write up of encoder system including all specifications, diagrams, and possible mounting configurations.

Nasser - Explanations of how controller/motor/GUI is integrated with any possible specifications.

John - Write up of how to communicate with launch monitor with diagram of how it is set up w/computer. Specific code included if possible

Next week: All parts ordered, continue working on reports

Week of 3/15: Receiving Parts

Week of 3/22: Assembly, troubleshooting

Week of 3/29: Completing Final Documentation

Presented by Charles Siko

Questions ? Questions ?

John Boring Nasser Almarri Charlie Siko

Presented by Charles Siko