Post on 16-Dec-2015
Final Capstone Design PresentationMAE 4194 – Mechanical Design 2
Lok Wah Jameson Tai William M. Rae Justin L. NunnFaculty Advisor: Pierre M. Larochelle, Ph. D., P. E.
In Partnership with:
Tool Changer
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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.
Purpose
Safety of people, building and robot Functional tools for tasks Autonomous tool changes
Positive control of tools Secure tool storage
Store tools away from sensors and access areas
Design Objectives
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To apply our knowledge gained in class and properly apply them to this project
To apply technical skills, communication skills, and the engineering design process into the project
To operate safely while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with
To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm
Goals
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PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot
PowerBot mobile robot, manufactured by MobileRobots, Inc.TM 6-DOF robotic arm, manufactured by Schunk Intec. autonomously map terrain, plot coordinates, MobileEyesTM and Mapper3TM software on-board sonar sensors laser range finder. two cameras, one on the PantherBot's base, one adjacent to the parallel
gripper on the robotic arm Remote access via 802.11b
WiFi.
Background – About the PantherBot
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Keeping in mind that the PantherBot should be able to operate and change tools autonomously, it is necessary to have safety features in place in case PantherBot or its robotic arm malfunctions or operates outside of its intended parameters.
Safety Considerations
Emergency Stop Buttons
Sonar SensorsReturns PantherBot
terrain data to plot and avoid obstacles
Laser Range FinderReturns range data to
accurately measure forward distance
Collision BumpersServes as emergency stops
if collision occurs
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F. W. Olin Engineering Complex was established via a grant from the F. W. Olin Foundation in 1997. The three-story building contains several classrooms, a 142-seat multimedia auditorium, and 26 specialized laboratories, including the Robotics and Spatial Systems Laboratory.
F. W. Olin Engineering Complex
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• Concept sketching• CAD modeling • Physical prototyping • Finite element analysis • CAD model to optimize• Production Drawings
The Prod’s Design Process
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Analysis of our tools was performed using the Cosmos finite element analysis package by DS SolidWorks. Testing was done with a 1.5 factor of safety to ensure the tool would break before damaging the robot
The Prod’s Analysis Results
Deformation Stress Strain
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• Spring supported symmetric four-bar mechanisms• Parallel grippers to drive the contact point forward• Mimics the motion of a human finger reaching out
and pressing a button• Spring allows for easy retraction of the tool and even
deployment of the mechanism• Foam tip prevents any damage to the button
The Prod
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Tool 1 & 2• Concept sketching• CAD modeling • Physical prototyping • Finite element analysis
Design Re-Evaluation • Physical prototyping • Finite element analysis• CAD model optimization• Production Drawings
The Enterprise’s Design Process
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The Enterprise’s Analysis Results–T/Door Handles
Deformation
Stress Strain
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The Enterprise’s Analysis Results – Wheel/Door
Deformation
Stress Strain
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• T-shape hook unlocks the door handle• PantherBot backs up to pull open door• Arm lets go of the door handle • Door rests against robot. • Arm will reposition so the wheel is pressed against
the door• Wheel holds door open while PantherBot passes
through.
The Enterprise – Pulling a door open
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• T-shape hook unlocks door handle• Arm pushes door open ~10⁰• Arm tilts so the wheel is pressed against the door• Arm repositions so door is open • PantherBot moves forward and wheel maintains
appropriate clearance
The Enterprise – Pushing a door open
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Video Demo – Enterprise Unlocks Handle
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The Tool Holders
Designed to secure tools in same location and orientation every time
Clear of sensors
Secure mounting
Accessible by arm
Aesthetically acceptable
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The Prod is composed of the following: • 1-1/2" L x 1-1/2" W (0.125" lip)
Aluminum 6063-T52 U-Channel• 1/8" L x 1/2" W Aluminum 6061 Bar• Ø 3/16" O1 Tool Steel Shaft• Black Retaining Rings for Ø 3/16" Shaft• Flanged Sleeve Bearings for Ø 3/16"
Shaft 2-3/4" L x 5/8" OD, 0.054" Wire Zinc-Plated Steel Compression Spring
• 1/8"W Adhesive-Back Elastic Natural Gum Foam Strip
• 1 generic rubber-tipped foam Nerf dart
Fabrication Process – The Prod
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The Enterprise is composed of the following:• 1-1/2" L x 1-1/2" W (0.125" lip) Aluminum
6063-T52 U-Channel• 1/4" L x 1/2" W Aluminum 6061 Bar• 5/16" Diameter O1 Tool Steel Shaft• Black Retaining Rings for Ø 5/16" Shaft• 1/8"W Adhesive-Back Elastic Natural Gum
Foam Strip• 70mm Diameter roller skate wheel
with two Ø 5/16“ ABEC 3 Bearings
Fabrication Process – The Enterprise
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The tool holders for the Prod and the Enterprise are composed of 0.08" sheet metal.
Fabrication Process – Tool Holders
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Testing – The Prod
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Videos
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Testing – The Enterprise
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Videos
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Initial Budget estimate of $800
Donations, redesigning the tools and additional research helped reduce the Budget
Final cost of $204
Budget and Finance Data
Vendor Number of items Purchased Cost
McMaster-Carr 17 172.44
Online Metals 2 18.67
Reimbursments 3 13.20
Total 22 204.31
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The PantherBot team made sure all designs functioned within the following regulations and guidelines:
• Basic Machine Tool Operation Guide, Florida Tech Machine Shop• MSDS guidelines for the Robotics and Spatial Systems Laboratory• Florida Tech College of Engineering Lab Safety Guide and Chemical
Hygiene Plan• OSHA STD 01-12-002 - PUB 8-1.3, robotics guidelines• OSHA 1910.252 General requirement guidelines• OSHA Personal Protective Equipment
guidelines• Robotics operation guidelines as set by
Dr. Larochelle• Safety plan filed with the University
Safety Officer
Ethical Behavior
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Responsible Financial decisions• Proper practices in purchasing of
materials using school funds
Personal responsibility• Team members performing their share of
the work• Team members following the Code of
Ethics of Engineers as described by the American Society of Mechanical Engineers
By following these guidelines we were able to ensure the safety of the people, machine and building
Ethical Behavior
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Design Development Process
• Brainstorming• Idea enhancements• Design optimization
Engineering Skills Acquired for Future
• CAD modeling• Computer aided analysis• Machine shop skills
Discussion on Life-Long Learning
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We have completed the task of designing and implementing a tool changer for the PantherBot such that it may open doors, as well as press buttons and access panels in the F. W. Olin Engineering Complex. The Prod was created with an objective of pressing buttons by utilizing the PantherBot's parallel gripper on its robotic arm for input. The Enterprise was created with objective of opening doors by fully utilizing the PantherBot and its robotic arm. As a result, the team was able to successfully give the PantherBot the means of autonomously navigating into additional sections of the F. W. Olin Engineering Complex.
Conclusion
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The PantherBot Tool Changer team would like to thank the Florida Institute of Technology College of Engineering for funding the project, Dr. Youngsik Choi for instructing the Mechanical Design course, and Dr. Pierre Larochelle for approving and facilitating this design project at the Robotics and Spatial Systems Laboratory.
For more information, please visit us on our project website:
http://flsvr.com/pantherbot
Acknowledgements
Tool Changer
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Videos