PantherBot Tool Changer

Mechanical Engineering Design 2 – MAE 419428 January 2009

Jameson L. Tai William Rae Justin Nunn

In Partnership with:

All logos in this presentation are courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech Office of Creative Services.

Project Review Presentation

Project Objectives Overview

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Project PurposeThe purpose of our project is 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.

Project OverviewDesign tools that allow PantherBot

autonomous access around Olin Engineering ComplexSafe for people and robotDoesn’t damage school facilities

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Work to Date

(Image Source: File Photo; Taken by Jameson L. Tai)

Work to DateFinalized design, completed drawing package

and received approval for fabrication of button pushing tool

Found materials left from other projects and ordered needed parts for button pushing toolLeft over materials have allowed us to cut costs

by close to 50% for this tool

Work to DateIdentified flaw with original door toolsRedesigned tool to correct problemPrototyped new door opening tool to prove

concept and determine best wheel size and configuration

Work to DatePerformed analysis on redesigned toolCompleted drawing package for door opening

toolIdentified materials already on hand for

production

Current Progress

(Image Source: RASSL)

Current ProgressTool 1

Final drawing package approved, and ready for fabrication

Research on foam tips for button pushingTool 2

Prototyping new designFinalizing design

Current ProgressPart Order forms

Materials for Tool 1 finalized and submittedMaterials for Tool 2 for parts not already on-

handBeginning fabrication

Tool 1 ready for fabrication as materials arrive

Fabrication and Testing Planning and Execution

(Image Source: http://www.sharpmachinetools.com/millingmachines/1054%20mill%20w%20dro.jpg)

Fabrication PlansTimeline shift

Fabrication and Testing deadlines movedButton Pushing Tool

Drawing package approved Requisition form for parts submitted

Door Opening Tool Drawing packing completed, awaiting approval Analysis in-progress Parts list ready to submit requisition form pending

approval

Fabrication PlansRevised timeline to reflect new design

Merging original Tool 2 and Tool 3 Reduced parts list Lower cost to fabricate Requires less time to fabricate

Moving on with fabrication of Tool 1 as plannedRevised door opening tool construction to

begin in two weeks

Revised Timeline

Drawing Package Tool 1

Drawing Package Tool 2

Receive material for Tool 1

Tool 1 Fabrication

Receive material for Tool 2

Tool 2 Fabrication

Tool Holders Fabrication

Test Rig Construction

Coding

Testing Phase

Mech Design 2 PDR

Final Design Review

Senior Design Showcase

1/12/2009 2/1/2009 2/21/2009 3/13/2009 4/2/2009 4/22/2009

Spring 2009 Fabrication and Testing Sub-Team Gantt Chart

Start Date

Completed

Remaining

Tool 1 Fabrication Plan• Most machining done in

Building 538• Complex geometries for

parallel gripper replaced by premade U-Channels

• Minor welding will be done, welding marked on drawing package

• Design approved for fabrication by Dr. Larochelle

Tool 2 Fabrication Plan• Most machining done in

Building 538• Complex geometries for

parallel gripper replaced by premade U-Channels and skate wheel

• Will share materials used by Tool 1 to minimize parts cost

• Minor welding will be done, welding marked on drawing package

Holder 1 Fabrication Plan• Single sheet of sheet

metal bent four times to acquire a C-shape enclosure for Tool 1

• Mounted to the front side of the PantherBot, away from sonar and laser range finders

Holder 2 Fabrication Plan• Single piece of sheet

metal with metal hooks which will secure Tool 2 from movement during transport

• Allow easy access for the robotic arm

• Mounted to the front side of the PantherBot, on the opposite end from Holder 1.

Coding/TestingCoding and testing will occur togetherCoding practices and tests tools and holders

madeattack angles on optimizing the door-opening

angles proper distance the Schunk robotic arm should

be away from the button/access panel

Questions?