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Transcript of Robot Retrieval System Millersville University Contributors: Frank Anamze Ben Bowman Brandon Dodson...
Robot Retrieval System
Millersville University Contributors:
Frank AnamzeBen Bowman
Brandon Dodson Brad Lang
Panama Beach City, FloridaNovember 6-9, 2002
Jacquie MileySeth Powers Ben TarnowskiMatt Vazquez
Competition Rules/Objective Must be a tele-operated robot using no robotic kits,
only hobbyist level components are allowed. The objective is to retrieve an unopened 12 oz. soda
can without creating damage to the can. Must be able to travel in an unknown terrain obstacle
course while staying within the boundaries. Manipulator may not be able to fly. Multiple frequency channels are allowed but only one
operator.
Source: http://www.nait.org/divisions/roboticscontest.html
E-maxxbot
Platform-Traxxas E-maxx:Chose for sturdiness, high clearance, and able to support a heavy load.
Gripper:Designed to surround the can completely to ensure that it is secure and free from any damage.
Arm:Designed to lift the can off the ground to avoid the unknown terrain in the obstacle course.
Platform-Traxxas E-maxx
Fabricated a light weight aluminum frame for mounting the arm and gripper system.
Purchased a hobbyist level remote controlled racing car that has the power to withstand the weight of a 12 oz. soda can and the rest of the mechanical systems.
Gripper System Fabricated a gripper that
mimicked the shape of a soda can and completely encompassed when closed.
A shelf was mounted at the bottom of the gripper to restrict the can from falling through when the arm was lifted.
To open and close the gripper, a servo motor uses rods to transfer circular motion into linear motion.
Arm System Used a first class lever system to gain a mechanical
advantage when lifting the soda can and gripper.
A screw system is used to raise and lower the arm assembly powered by a 14 volt DC motor.
Overall IMA = Screw IMA * Lever IMA
Overall IMA = 4 * 1.57
Overall IMA = 6.28:1
Transmitters/Receivers Two transmitting signals are used:
27Mhz AM and 75Mhz FM. 27Mhz signal is used for driving,
steering (servo), and controlling the gripper (servo) opened or closed.
75Mhz signal uses a servo motor to mechanically switch back and forth between the drive motors and the screw system motor preventing both motors from running simultaneously.
This system activates relay coils between the speed controller and the 14 VDC motors to prevent high amperage flow through the mechanical switch because of the low amperage rating.
Troubleshooting
Interfering signals because of metal frame.
Shock absorbing springs were too weak to support the full load.
Force needed to raise the manipulator and load was too great for motor being used.
Replaced receiver unit with different frequency.
Replaced with stiffer springs.
Repositioned fulcrum to gain mechanical advantage.
Replaced motor with a higher power rating.
Problems Solutions
AcknowledgementsSpecial thanks to all who helped with their time and support.
Pit-Stop Hobbies
Dr. John R. Wright, Jr.
Dr. Haig M. Vahradian
Dr. John C. Hibberd
Dr. Kenneth P. Delucca
Mr. Mike Joy
Mr. Ken Stough
NAIT Millersville University Student Chapter