NASA Lunabotics Competition BP-1 Excavating Autonomous Rover€¦ · NASA Lunabotics Competition...
Transcript of NASA Lunabotics Competition BP-1 Excavating Autonomous Rover€¦ · NASA Lunabotics Competition...
NASA Lunabotics CompetitionBP-1 Excavating Autonomous Rover
Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel GreenbergDr. Ramesh Varahamurti
Team Members and Faculty Advisor
NASA Lunabotics Competition
Ross “Botsauce” BaileyAndrew “TT Showbiz” BoltonEvan “Christmas” CarrollBen “Magic Beard” BennettNathaniel “Jazz Hands” GreenbergNalin “Rampage” Randeniya
Team Members(From Left to Right)
Faculty AdvisorDr. Ramesh “The Hurricane”Varahamurti
Industrial Sponsors
NASA Lunabotics Competition
Background
NASA Lunabotics Competition
Excavation is a necessary first step in living off of the land
• Oxygen extraction• Habitat foundation
New concepts for excavation technologies needed
Background
NASA Lunabotics Competition
LunArena• 10 minute run• Minimum of 10 kg• Rocks and craters
Problem Definition
NASA Lunabotics Competition
Requirement
Engineering
Specification Metric Method/Device Target Condition
Lightweight Vehicle Mass kg Scale < 80 kg
Inclusive of all
parts
Compact Size m Tape Measure
< 1.5m x .75m x
.75m
Starting
Footprint
Amount of BP-1 mined Mass kg Scale > 10 kg During 10 min
Communications
Average
Bandwith kb/sec
Bandwidth Test
Software -1/50 kb/sec
As minimal as
possible
Set-up Time min Stopwatch < 10 min
By trained team
members
Removal Time min Stopwatch < 10 min
By trained team
members
Design Solution
NASA Lunabotics Competition
Design Solution
NASA Lunabotics Competition
Design Solution
NASA Lunabotics Competition
Design Solution
NASA Lunabotics Competition
Autonomous Control
NASA Lunabotics Competition
Fabrication
NASA Lunabotics Competition
Testing
NASA Lunabotics Competition
• Emergency Stop button – As a requirement
ø > 5 cm
• Maneuverability and Mining capability
• 10 kg BP-1 collection capability Targets
• Dust reduction – Bonus points
Testing
NASA Lunabotics Competition
List of Experimental Tests
1. Set-up and Power-up
2. E-Stop Verify
3. Maneuverability and Digging Controls
4. 10 kg Remote Trial Run
5. Dust Mitigation
Testing
NASA Lunabotics Competition
E-stop Verification Test
Testing
NASA Lunabotics Competition
Maneuverability and Digging Controls
Testing
NASA Lunabotics Competition
Testing
NASA Lunabotics Competition
10 kg Sand Collection Trial Run
Testing
NASA Lunabotics Competition
Dust Mitigation
Testing
NASA Lunabotics Competition
Results Review
TEST STATUSSet-up and Power-up Successful
E-Stop Verification Reliable
Maneuverability and Digging Controls
Smooth and Accurate
10 kg Sand Collection within 10 minutes
Achieved
Dust Mitigation Satisfactory
Sources of Funding:
Industrial Sponsor – NASA Mission Directorate_______ $ 3,000.00
Donations – Total Donations_______________________$1,250.00
Sponsors – Transfer Flow
A Main Hobbies
Galil
Dimension Engineering
Royal Printing
Total Material Donated___________________$ 2,803.68
Donated Labor – Transfer Flow
• Manufacturing: The Frame
The Lever Arm
The Wheels
Estimated hour of donated labor/ Approx. employee wage
~ 45 hrs x $40/hr = ________________________$1800.00
Final Budget
NASA Lunabotics Competition
Final Budget
NASA Lunabotics Competition
Receipt Number
Date Purchased Supplier Part Number Part Description Quantity
Cost Each Subtotal Total
00244692519052209 1/18/2012 Amazon.com B000N9PJ7W
Seachoice ATO / ATC Fuse Block 10 Gang 1 17.49 17.49 17.49
00244692519052209 1/18/2012 Amazon.com VPATC30
Bussmann VP/ATC-30 30 Amp Faast Acting Blade Fuse, 1 6.73 6.73 6.73
38105681901182012 1/18/12
Orchard Supply
Hardwear000003069927651
6 MCH SCR-RND 8-32x1 1 0.99 0.99 1.06
38105681901182012 1/18/12
Orchard Supply
Hardwear000003900810170
9 EXT SPRING 2-3/8" 2 2.29 4.58 4.91
38105681901182012 1/18/12
Orchard Supply
Hardwear000003861314625
9 2-1/2" ZN LT NAR B 1 3.19 3.19 3.42
38105681901182012 1/18/12
Orchard Supply
Hardwear000003900303011
0 1" OD LEG TIP 1 1.99 1.99 2.13
038102690201172012 1/17/12
Orchard Supply
Hardwear000064873841473
9 T-10 TORX DRIVER 1 3.99 3.99 4.28
038102690201172012 1/17/12
Orchard Supply
Hardwear000003069918512
2 MCH SCR-RND 8-32x2 1 3.49 3.49 3.74
038102690201172012 1/17/12
Orchard Supply
Hardwear000003069918512
2 HEX MACH NUT 8-32 1 2.99 2.99 3.21
038102690201172012 1/17/12
Orchard Supply
Hardwear000003069919802
3 WASHER SAE #8 ZINC 1 1.99 1.99 2.13
495349 1/4/12All Metals
Supply FL460-184 6061-T6 1/8 x 4 FLAT ALUMINUM 8 3.14 25.13 26.95
495349 1/4/12All Metals
Supply ST480-WW0656061-T6 1 x 1x .065 SQ TUBE
ALUMINUM 20 1.19 23.73 25.45
Final Budget
NASA Lunabotics Competition
Receipt NumberDate
Purchased SupplierPart
Number Part Description QuantityCost Each Subtotal Total
Donated 1/25/12A Main
Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00
Donated 1/25/12A Main
Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00
Donated 1/25/12A Main
Hobbies LOSB3227 Wheel Nuts, Blue Anodized (4) 1 13.49 13.49 0.00
Donated 1/25/12A Main
Hobbies LOSB7028 Beadlock Set, Inner & Outer (2) 1 11.75 11.75 0.00
Donated 1/25/12A Main
Hobbies LOSB3224 Fr/R Stub Axle & Pins (1) 1 16.49 16.49 0.00
Home Depot Bosch DDS180-02 1170.9
9 170.99 170.99
Amazon.com Bosch DDS180-02 3159.9
9 479.97 479.97
16837190 2/1/12McMaster
Carr 5912k4 Aluminum Bronze Bearing 1/2 Diameter 4 11.11 44.44 52.53
2/4/12Dimension
EngineeringSabertooth
2X25 Sabertooth dual 25A motor driver 3124.9
9 374.97 0.00
38103602402172012 2/17/12
Orchard Supply
Hardwear 6435994 ALUMINUM ROUND RD 1 11.49 11.49 12.32
038102958002042012 2/4/12
Orchard Supply
Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75
038102958002042012 2/4/12
Orchard Supply
Hardwear 614121130487 1/2 ALUMINUM ROD 1 4.79 4.79 5.14
038102958002042012 2/4/12
Orchard Supply
Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75
038101135402042012 2/4/12
Orchard Supply
Hardwear 39008215574 RBR WASH 5/8X2X1/8 4 1.19 4.76 5.11
Donated 2/23/12A Main
Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00
Donated 2/23/12A Main
Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00
Donated 2/23/12A Main
Hobbies LOSB7027 Wheel and Beadlock Set (2) 2 30.99 61.98 0.00
A Main
Final Budget
NASA Lunabotics Competition
Receipt NumberDate
Purchased Supplier Part Number Part DescriptionQuantit
yCost Each
Subtotal Total
C-1203-S1593 3/16/12
STOCK DRIVE
PRODUCTSA 1C 2-N24144 GEAR SP.24P.ST. 6inDP(US) 2 56.98 113.96 122.55
C-1203-S1593 3/16/12
STOCK DRIVE
PRODUCTS A 1C 2N24012 GEAR SP.24P.ST. 0.5in DP(US) 2 9.80 19.60 28.10
20948590 3/19/12 McMaster Carr 2737T1Steel Finished-Bore Roller Chain Sprocket, for #25
Chain, 1/4" Pitch, 9 Teeth, 1/4" Bore 1 5.61 5.61 8.53
20948590 3/19/12 McMaster Carr 2737T151Steel Finished-Bore Roller Chain Sprocket, for #25
Chain, 1/4" Pitch, 23 Teeth, 1/4" Bore 1 7.80 7.80 10.72
24463834 4/23/12 McMaster Carr 91251A359Black-Oxide Alloy Steel Socket Head Cap Screw,10-32
Thread, 2-3/4" Length, Packs of 10 1 13.89 13.89 14.90
24463834 4/23/12 McMaster Carr 8632T132 D-Profile Shaft, 1045 Steel, 1/4" OD, 6" Length 1 6.64 6.64 7.12
24463834 4/23/12 McMaster Carr 6261K108 #25 Connecting Link for, Standard ANSI Roller Chain 4 0.96 3.84 4.12Donated Galil DMC-2183 Galil Motion Controller 1 1595.00 1595.00 0.00
Galil ICM-20105 Interconnect with Optoisolated I/O 2 195.00 390.00 0.00Arduino ATmega328 Arduino Uno Microcontroller 1 38.00 38.00 0.00
Microsoft Microsoft XBOX Kinect Sensor 1 129.99 129.99 0.00NTC SPST RELAY 2 0.00 0.00
24598862 4/24/2012McMaster Carr
8510K14SBR Rubber Edge Trim, 3/32" Opening, 21/64" Inside
Depth. 25 0.42 10.50 11.26
24598862 4/24/2012McMaster Carr
5542T85 Push-on Corner Cap, fits 1/8" to 3/16" Thickness, Black16 0.42 6.72 7.21
24598862 4/24/2012McMaster Carr
N/AShipping Expense 1 5.53 5.53 5.93
38106717804212000
4/21/2012Orchard Supply
Hardwear
30699192427
NYLN LKNT 8-32 1 4.99 4.99 4.99
38106717804212000
4/21/2012Orchard Supply
Hardwear
30699276226 MCH SCR-RD 8-32x1 1 2.79
2.79 2.79
6609584205904 4/14/2012The Home
Depot726941107010 .093-18x24 LEXAN XL 1 19.98
19.98 21.43
6609584205904 4/20/2012The Home
Depot786102105002 HONDA FILTER 2 9.97
19.94 21.39
6609584205904 4/20/2012The Home
Depot076812402011 HACKSAW 1 5.47
5.47 5.87
66095833801 4/20/2012The Home
Depot726941107010 .093-18x24 LEXAN XL 1 19.98
19.98 21.43
Total Cost of Robot :
$ 1,519.09
Final Budget
NASA Lunabotics Competition
Final Budget
NASA Lunabotics Competition
Labor:
Semester Total Man HoursAverage
Engineering Wage
Amount
Fall1271 $40/hr $ 50,840.00
Spring1632 $40/hr $ 65,280.00
Total: $ 116,120.00
Final Budget
NASA Lunabotics Competition
Total Project
Cost Estimate:$ 121,028.55
Reflection
NASA Lunabotics Competition
•Unique Problems encountered• Drill Motors were a challenge to mount• Tolerances on shafts, bearings, and
couplers•Merits of the Design Solution
• Drill Motors, Custom Wheels, Battery Counterweight, and Simple Design
•Suggestions for the future• Suspension and Steering
Conclusion
NASA Lunabotics Competition
• Special Thanks to Mike Lorroco• Ready for Competition!
Questions?
NASA Lunabotics Competition