ECE 480 Design Team 1ECE 480 Design Team 1

Autonomous Docking of NASA Autonomous Docking of NASA Robotic ArmRobotic Arm

The TeamThe Team• ManagementManagement

Nick TokarzNick Tokarz (Electrical)(Electrical)• Document Preparation Document Preparation

Joesph Baumgardner (Computer)Joesph Baumgardner (Computer)• Web MasterWeb Master

James Marus (Computer)James Marus (Computer)• Lab CoordinatorLab Coordinator

Truc Nguyen (Computer)Truc Nguyen (Computer)• PresentationPresentation

Kacy King (Mechanical)Kacy King (Mechanical)• Lab Coordinator Lab Coordinator

Keith Ortman (Mechanical)Keith Ortman (Mechanical)

Facilitator – Karim Oweiss Industrial Sponsor - Michael Comberiate

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

BackgroundBackground

Previous Team’s WorkPrevious Team’s Work Started in 2004 Started in 2004 Six-degree-of-freedom robotic Six-degree-of-freedom robotic

armarm Control systemControl system Electromagnetic end effectorElectromagnetic end effector AUTONOMOUS DOCKING IS AUTONOMOUS DOCKING IS

CURRENTLY NOT FEASIBLE CURRENTLY NOT FEASIBLE

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Customer Requirements Customer Requirements Create autonomous docking routineCreate autonomous docking routine Addition of proximity sensors to the end effectorAddition of proximity sensors to the end effector Improving the GUIImproving the GUI Adding a planetary gear box at the elbow jointAdding a planetary gear box at the elbow joint Fixing the connectors to the printed circuit boardFixing the connectors to the printed circuit board Replacing the joystickReplacing the joystick Additional ObjectivesAdditional Objectives

Making the arm controllable via the internet Making the arm controllable via the internet Developing a new base for the robot arm.Developing a new base for the robot arm. Tightening the arm joints Tightening the arm joints Mounting a USB camera to the end effectorMounting a USB camera to the end effector

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Why Autonomous Docking?Why Autonomous Docking?

Time delay between user interface and Time delay between user interface and actual movementactual movement

Close quarter collision avoidanceClose quarter collision avoidance Inhospitable environmentsInhospitable environmentsPrecision Precision

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Necessary ImprovementsNecessary Improvements

Improvements needed for autonomous Improvements needed for autonomous docking docking Unpredictable arm movementsUnpredictable arm movementsMechanical deficiencies Mechanical deficiencies Unfriendly user interfaceUnfriendly user interface Inverse kinematics Inverse kinematics

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Mechanical SupportMechanical Support

Design new steel constructed Design new steel constructed basebase

Tighten keyway jointsTighten keyway joints Improve existing motor mountsImprove existing motor mountsGeneral mechanical supportGeneral mechanical supportReplace servo motor hornReplace servo motor horn

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Mechanical Work Mechanical Work

Motorized gear boxMotorized gear boxMaximum motor torque 700 Maximum motor torque 700

gm-cmgm-cmVarious combinations of Various combinations of

planetary gears to achieve planetary gears to achieve desired output torque.desired output torque.

Mount new gear boxMount new gear boxMount camera and proximity Mount camera and proximity

sensorssensors

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Autonomous DockingAutonomous DockingDistance from the docking station and Distance from the docking station and

Angle of insertionAngle of insertion Infrared proximity sensorsInfrared proximity sensors Intensity of light determines analog outputIntensity of light determines analog outputOutput is sent to an analog to digital converterOutput is sent to an analog to digital converterDigital output is sent to software to be Digital output is sent to software to be

analyzedanalyzed

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Autonomous DockingAutonomous Docking

Orientation of object to be dockedOrientation of object to be dockedRetro-reflective sensorsRetro-reflective sensorsLight sent out hits retro-reflective tape and is Light sent out hits retro-reflective tape and is

sent directly back to the sourcesent directly back to the sourceTape will be placed in strategic locations in Tape will be placed in strategic locations in

order to align the object correctlyorder to align the object correctly

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

SoftwareSoftware

Joystick modificationJoystick modificationChange from force feedback Change from force feedback

Autonomous dockingAutonomous dockingGUI improvements GUI improvements Remote control via internet Remote control via internet

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Design ProcessDesign Process

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

Risk Analysis Risk Analysis

Power consumptionPower consumptionAdequate torqueAdequate torqueArm speedArm speedSensor accuracy and precision for Sensor accuracy and precision for

successful autonomous dockingsuccessful autonomous dockingCost of sensors Cost of sensors TimeTime

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs

ConclusionConclusion

Team 1 – Autonomous docking of Robotic Arm

Continue development and improvement of arm

Implement autonomous docking

Background

Customer Requirements

Autonomous Docking

Conclusion

The Team

Conceptual Designs