2019-20 Robotics I & II€¦ · or redesign Final Product Iteration Design Phase: The Design Folder...
Transcript of 2019-20 Robotics I & II€¦ · or redesign Final Product Iteration Design Phase: The Design Folder...
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2019-20
Robotics I & II
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Robotics
Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronics engineering, computer
science, and others. Robotics deals with the design, construction, operation, and use of
robots, as well as computer systems for their control, sensory feedback, and information
processing.
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The Engineering Process
• In this class you are going to use the same process (sequence of steps)used in real-life engineering:
Problem Analysis
Solution Design
Prototyping TestingPrototype
adjustment or redesign
Final Product
Iteration
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Phases of the Engineering Process
Problem Analysis
Solution Design
Prototyping TestingPrototype
adjustment or redesign
Final Product
Iteration
Design Phase Construction Phase Challenge
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Products
Problem Analysis
Solution Design
Prototyping TestingPrototype
adjustment or redesign
Final Product
Iteration
Design Phase: The Design Folder Construction Phase Challenge
1. Cover Letter
Design Folder1. Cover Letter2. Description of the Challenge, Rules3. Prototype Sketches (1)4. Prototype Technical Drawings (3)5. Prototype CAD File6. Prototype Budget (in points)7. Print the final view
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Products
Problem Analysis
Solution Design
Prototyping TestingPrototype
adjustment or redesign
Final Product
Iteration
Design Phase: The Design Folder Construction Phase Challenge
1. Cover Letter1. Cover
Letter
1. Prototype2. Successful test
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Products
Problem Analysis
Solution Design
Prototyping TestingPrototype
adjustment or redesign
Final Product
Iteration
Design Phase: The Design Folder Construction Phase Challenge
1. Cover Letter
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Building Foundations
• What is a Robot?• The Control Loop
Controller
Transmitter
ActuatorSensor
Transmitter
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Building Foundations
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The Brain
Technology
VEX-IQ
EV3
Ports
12 Ports General Purpose
4 Sensor Ports
3 Motor Ports
Language
Modkit
Robot C
Mindstorms
Remote Control
Vex-IQ Controller
Lego Commander
App (IOS/Android)
Internal Speaker
and Screen
Yes
Yes
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Sensors
Technology
VEX-IQ
EV3
Distance
YES
YES
Mechanical Switch
YES
YES
Color
YES
YES
LED Capacitive
Touch Sensor
YES
NO
Sound Sensor
NO
YES
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Sensors/Actuators
Technology
VEX-IQ
EV3
Distance
YES
YES
Mechanical Switch
YES
YES
Color
YES
YES
LED Capacitive
Touch Sensor
YES
NO
Sound Sensor
NO
YES
Motors
YES
YES (Middle size and Normal)
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Structures
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Characteristics of a Structure
• Strength
• Stability
• Economic Value
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Structural System
• Made up of many smaller structural sub-systems that work together to provide a strong, stable, and cost-effective structure.
• Examples of these smaller structural sub-systems include:
o Roofo Wallso Floors
o Framingo Foundations
Structural engineers design these structural systems.
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Structural Sub-System
• Made up of many structural elements that work together to provide a strong, stable, and cost-effective system.
• Basic structural elements include:
o Beamo Columno Truss
o Archo Vaulto Dome
Structural engineers design these structural systems.
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Forces and Loads
• A force is any action that causes a change in the shape or motion of an object.
• A load is a force that is supported by a structural element.
• The terms force and load are often used interchangeably.
SNOWWIND
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Structural Member Forces
Tension: A force that stretches or pulls apart a member, resulting in the member elongating.
Compression: A force that squeezes or presses a member together, resulting in the member shortening.
Shear: A force that acts perpendicular to the axis of the member, causing the internal particles of the member to slide against each other.
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Beam
• A structural element that carries a load that is applied transverse (perpendicular) to its length.
• Usually a horizontal member that carries a vertical applied load.
• The top fibers of a beam are in compression; the bottom fibers are in tension.
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Cantilever Beam
• A special type of beam that is supported only at one end
• The top fibers of the cantilever are in tension; the bottom fibers are in compression
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Column
A vertical structural element that carries an axial force in compression
COLUMN
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Truss
• Structural element that is composed of smaller structural members typically configured in triangular arrangements
• Some truss members carry a tension force; others carry a compression force
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Arch
• A curved structural element that spans over an open space
• In stone arches, the last stone to be placed at the top is called the keystone
KEYSTONE
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Vault
A continuous arch that forms a ceiling or roof
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Dome
A structural element that is made up of arches
that radiate around a center point to create a
half sphere
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Mechanical
EngineeringFoundations
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Basic Mechanisms• Pulley and Belt
• Twisted Pulley and Belt
• Semi Circular Pulley and Open Belt
• Lifting Pulley
• Movable Pulley
• White`s Pulley
• Spanish Bartons
• Spur Gears
• Bebel Gears
• Worm or Endless Screw
• Internal Spur Gear and Pinion
• Satellite Gear Box
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Lifting
MechanismsChallenge #1
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4-Bar Linkage: Double Rocker
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4-bar Linkage (Crank-rocker)
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Four-Bar Linkage
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4-bar lifting
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Scissors Lift
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Scissors Lift
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ProgrammingEV3 Mindstorms
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Example #1
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Example #2
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Example #3
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Example #4
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Example #5
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Competitions
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5
11x11x15
2000
✓
✓
Data
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7
22 in diameter
4000
✓
Data
0 pts1 pt2 pts3 pts4 pts5 pts6 pts
10 pts
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The Locator
Scoring Area
Start
Items Area
• 2 point per right-color cube in the scoring area
• 1 point per other-colors cube out the Items area
• 1 point for finishing inside the start area
• 60 seconds rounds
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The Mine Field
Scoring Area
Start
• Each team begins with 100 points
• If touching a mine, lose 20 points.
• 60 seconds rounds
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The Lord of the Cubes
• 1 Point per cube in the scoring area
• 2 point per cube stacked on top of others at Level 2
• 60 seconds rounds
Start
Score
Items Area
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Ringmaster
• 1 Point per ring in any pole• Double points if 2 or more
rings in a pole are the same color.
• 60 seconds rounds
Start
Items Area
Scoring Poles
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Crocorace
• Two Players Race
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Domo Sumoboto
• Two Players Game• 60 seconds fight• Better of 3 wins
Sumo Arena
• Push your opponent out of the arena
Red
Blue
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The Pharaon
• 60 seconds to reach the top of the pyramid and the blue area.
• Push your opponent out of the arena
Red
Blue
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Over the Net
• Two Players Game• 60 seconds game
Player 1 Area
Net
Player 2 Area
• 1 point per cube in your opponent’s area• 2 points per cube returned to your opponent