PantherBot Tool Changer
description
Transcript of PantherBot Tool Changer
PantherBot Tool Changer
Mechanical Engineering Design 2 – MAE 419428 January 2009
Jameson L. Tai William Rae Justin Nunn
In Partnership with:
All logos in this presentation are courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech Office of Creative Services.
Project Review Presentation
Project Objectives Overview
(Image Source: Robotics and Spatial Systems Laboratory (RASSL))
Project PurposeThe purpose of our project is to retrofit the
PantherBot in order to give it the capability to open doors and press wall panel buttons, so that it can roam autonomously inside the F. W. Olin Engineering Complex.
Project OverviewDesign tools that allow PantherBot
autonomous access around Olin Engineering ComplexSafe for people and robotDoesn’t damage school facilities
(Image Source: Robotics and Spatial Systems Laboratory (RASSL))
Work to Date
(Image Source: File Photo; Taken by Jameson L. Tai)
Work to DateFinalized design, completed drawing package
and received approval for fabrication of button pushing tool
Found materials left from other projects and ordered needed parts for button pushing toolLeft over materials have allowed us to cut costs
by close to 50% for this tool
Work to DateIdentified flaw with original door toolsRedesigned tool to correct problemPrototyped new door opening tool to prove
concept and determine best wheel size and configuration
Work to DatePerformed analysis on redesigned toolCompleted drawing package for door opening
toolIdentified materials already on hand for
production
Current Progress
(Image Source: RASSL)
Current ProgressTool 1
Final drawing package approved, and ready for fabrication
Research on foam tips for button pushingTool 2
Prototyping new designFinalizing design
Current ProgressPart Order forms
Materials for Tool 1 finalized and submittedMaterials for Tool 2 for parts not already on-
handBeginning fabrication
Tool 1 ready for fabrication as materials arrive
Fabrication and Testing Planning and Execution
(Image Source: http://www.sharpmachinetools.com/millingmachines/1054%20mill%20w%20dro.jpg)
Fabrication PlansTimeline shift
Fabrication and Testing deadlines movedButton Pushing Tool
Drawing package approved Requisition form for parts submitted
Door Opening Tool Drawing packing completed, awaiting approval Analysis in-progress Parts list ready to submit requisition form pending
approval
Fabrication PlansRevised timeline to reflect new design
Merging original Tool 2 and Tool 3 Reduced parts list Lower cost to fabricate Requires less time to fabricate
Moving on with fabrication of Tool 1 as plannedRevised door opening tool construction to
begin in two weeks
Revised Timeline
Drawing Package Tool 1
Drawing Package Tool 2
Receive material for Tool 1
Tool 1 Fabrication
Receive material for Tool 2
Tool 2 Fabrication
Tool Holders Fabrication
Test Rig Construction
Coding
Testing Phase
Mech Design 2 PDR
Final Design Review
Senior Design Showcase
1/12/2009 2/1/2009 2/21/2009 3/13/2009 4/2/2009 4/22/2009
Spring 2009 Fabrication and Testing Sub-Team Gantt Chart
Start Date
Completed
Remaining
Tool 1 Fabrication Plan• Most machining done in
Building 538• Complex geometries for
parallel gripper replaced by premade U-Channels
• Minor welding will be done, welding marked on drawing package
• Design approved for fabrication by Dr. Larochelle
Tool 2 Fabrication Plan• Most machining done in
Building 538• Complex geometries for
parallel gripper replaced by premade U-Channels and skate wheel
• Will share materials used by Tool 1 to minimize parts cost
• Minor welding will be done, welding marked on drawing package
Holder 1 Fabrication Plan• Single sheet of sheet
metal bent four times to acquire a C-shape enclosure for Tool 1
• Mounted to the front side of the PantherBot, away from sonar and laser range finders
Holder 2 Fabrication Plan• Single piece of sheet
metal with metal hooks which will secure Tool 2 from movement during transport
• Allow easy access for the robotic arm
• Mounted to the front side of the PantherBot, on the opposite end from Holder 1.
Coding/TestingCoding and testing will occur togetherCoding practices and tests tools and holders
madeattack angles on optimizing the door-opening
angles proper distance the Schunk robotic arm should
be away from the button/access panel
Questions?