presentacion robocup

8/14/2019 presentacion robocup

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Lehigh RoboCupTeam

Matthew Cullin

Leslie EuriceJonathan FeldmanKa Wai Kwok

Advisor: Prof. Eugenio Schuster

Project History

The conceptual design of a robot for RoboCup Competition was completedlast semester and served as the starting point of the project

The overall objective of the project is to build 10 robots (2 teams) to enterthe RoboCup Competition at the end of the year.

The goal for this semester is to build 2 robots that can play soccer with eachother.

This will be the first Lehigh RoboCup Team. All the robots are built with thehelp of the conceptual design report.

The whole team is splitted into 3 groups:-Mechanical Engineering

-Electrical Engineering

-Computer Science


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What isWhat is RoboCupRoboCup??

RoboCup is an international joint project to promote robotic andartificial intelligence development

The ultimate goal is to develop an autonomous humanoid team of

robots that can defeat a championship human team

Competition divided into 5 leagues:

Simulation League

Small Size Robot League (F-180)

Middle Size Robot League

4-Legged Robot League

Humanoid League

Mechanical Engineering

Computer ScienceElectrical Engineering

Systems integration of several disciplines

Draw participants from multiple departments

F-180 League Rules Outline

The F-180 League Playing Field

16 0

11 2 28

7


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F-180 League Rules Outline (cont.)

Maximum of 5 robots Must have at least 1 robot

Robots may be interchanged

1 robot may designated a goalkeeper

Dimensions Must fit within cylinder 180mm in diameter

Max height of 150mm

Mechanical Design Goals

Minimize weight

Low center of gravity

Minimize maintenance downtime

Optimize available space

Maximize acceleration in all directions

Maximize kick velocity and accuracy

Integrate mechanical design with electrical and vision systems


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Mechanical Design ElementsMechanical Design Elements

Omni-Directional Drive Architecture

Drive Motors

Wheel Selection

Dribbling Mechanism

Kick Mechanism

Chassis Design

Solenoid Kicking Module

Omni-directional Drive Chassis

Dribbling Mechanism

Novak Brushless DC Motor

Drive Architecture

Omni-directional Drive Chassis

4 wheel omni-direction drive platform:

Offers greatest power

Highest traction on playing surface

Overall higher acceleration than 3 wheel design

Omni-Directional Drive Wheel

Allows movement parallel

to rotational axisBrushless DC Motors

Highest power to weight ratio

Longer lifespan than brushed motors


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Motor SelectionPerformance Goals: Maximum acceleration: 10m/s2

Maximum velocity: 3 m/s

0 0.5 1 1.5 2 2.5 3 3.50

200

400

600

800

1000

1200

1400

1600

1800

2000

Speed(RPM)

Torque (N*m)

Motor Comparison: At 15.5V with appropriate gear ratios

Faulhaber 2224:006SR @ 15.5V; GR=25.023Faulhaber 2342:006CR @ 15.5V; GR=13.3457

Maxon Re-max 24 @ 15.5V; GR=19.3829Maxon EC45-30W @ 15.5V; GR=3.4695Maxon EC45-50W @ 15.5V; GR=2.3867Desired Operating Area

* Target Performance

Motor Specification

Required max torque: .448 N m

Required max speed: 840 Rpm

Motor Selected: Castle Creations MMB25-CM2042

Size Constraints:

Maximum diameter: 3 cm

Maximum length: 3.5 cm

Drive Component

Collar motor shaft / wheel connection

Motor mount motor / chassis connection

High Impact Acrylic (Plexiglass)


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Drive Assembly Wheel / Motor Assembly

Drive Assembly Motor / Chassis Connection


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Ball Control

Dribbling Mechanism

Dribbling Bar:

High speed roller creates backspin on ball

Cornell 2005 Robot

Dribbler Mechanism

Chosen Design

Hour Glass Design

Initial Design Concept

Standard Cylindrical Bar


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Ball Control

Kicking Mechanism

Common Kicker Designs

Spring loaded crossbow design

Spinning kicker bar

Spinning Kicker Bar


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Kicker Design Injection Molding

Top View

Front View Side View

Isometric View

Kicker Design Water Jet Cutting

2-D geometry easier to manufacture


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Kicker with Solenoid

Chassis Design

Preliminary 2-D AutoCAD design


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Chassis Design Implementation

Collaboration with ECE group

Microprocessor Implementation

- controls the mechanical devices1. Drive Motor Speed Control

2. Kicker (Solenoid) Speed Control

3. Dribbler Motor Speed Control

Electrical Components Mounting1. Circuit Board

2. Batteries


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Project CostsFor Two Robots

$1,362.90Total

$80Rapid Prototyping

$180Water Jet CuttingManufacturing

$-Aluminum plate

$7.1Plexiglass Rod

$11.00Plexiglass SheetMaterials

$44.802$22.40S-20-150-H D-Frame Push TypeSolenoid

$1000.008$125.00Castle Creations MMB25-CM2042 Brushless DCMotor / Controller

$40.008$5.00Kornylak Omniwheel 2.570Wheels

CostQuantityUnit CostDescriptionPart

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