Trajectory Optimization for Cable-Driven Soft Robot Locomotion
Robot Locomotion and Plant Platform
description
Transcript of Robot Locomotion and Plant Platform
Robot Locomotion andPlant Platform
Brian Russell – Team Manager/MEVince Baier – Lead Engineer/EETom Anderson – MEDan Chin – MEMatt Padula – MEEmile Lebrun – EEEric Harty - CE
Introduction
• First Team in project line• Worked in conjunction with Navigation team• Two teams continuing through 2009-3
Project Expectations and NeedsRobot carries and cares for a plantRobot moves slowlyPromotes innovation and green
values at RITFriendly to passing pedestriansTest stand produced for Navigation
teamMust be able to return homeLast an entire day of roaming
Interpretations
Two speeds required to move normally and turn
Needs high torque in order to overcome small obstacles and inclines in field
Return home mode should be manual
Dispense water when neededProvide asylum for plant
Designs
INITIAL DESIGN CURRENT DESIGN
Testing
GOALS
10 in/min 15°/sec turning 9 hr battery life 5-15 in*lb torque 2 Amp current draw 50lb
ACTUALS
<10 in/min 22°/sec turning ~15 hr battery life 8.851 in*lb torque 2.3 Amp current draw ~130lb Plow
Financial Summary
Status
Plowing robotDC-DC board now fully operationalChain skip occurs when over
tightened from motor to transmission
Encoders implemented with improved ones on order
Software interface fully functional
Expectations of Future Teams Integrate Shell of robot with
locomotion componentsFinal integration with Navigation
componentsField testingFacebook/Twitter Improvements in quality of modular
parts