winrobo#2 final presentation€¦ · Team Members. Problem Statement ... Must weigh < 1 kg when...
Transcript of winrobo#2 final presentation€¦ · Team Members. Problem Statement ... Must weigh < 1 kg when...
WinroboWinroboThe automated The automated
windowwindow--washing robotwashing robot
� Faculty advisor – Nick Repanich
Jared HamiltonJared Hamilton
(MECA)(MECA)
Yannick de AlwisYannick de Alwis
(MECA)(MECA)
Stephen OtisStephen Otis
(MECA)(MECA)
Domonic ScismDomonic Scism
(MECA)(MECA)
Team MembersTeam Members
Problem StatementProblem Statement
•• Clean difficult to access windowsClean difficult to access windows
•• Automate window washingAutomate window washing
•• Helping people with disabilities to clean hard to Helping people with disabilities to clean hard to
reach windowsreach windows
• ASME 2008 Student Design Competition
•• HHome owners, commercial cleaners, disabled people
CustomerCustomer
Device FunctionDevice Function
�� Device is placed in lower Device is placed in lower
leftleft--hand corner of hand corner of
windowwindow
�� Cleaning operation starts Cleaning operation starts
with the simple push of a with the simple push of a
buttonbutton
�� Device autonomously Device autonomously
removes dry erase removes dry erase
marker dots on one side marker dots on one side
of the window (upper of the window (upper
and lower panes)and lower panes)
Quantitative RequirementsQuantitative Requirements
�� Must remove 90% of dry erase dots, on one side onlyMust remove 90% of dry erase dots, on one side only
�� Must finish in < 5 minutes, including setup timeMust finish in < 5 minutes, including setup time
�� Must weigh < 1 kg when charged with cleaning fluidMust weigh < 1 kg when charged with cleaning fluid
�� Must carry 50 ml of cleaning fluid (water)Must carry 50 ml of cleaning fluid (water)
�� Must be battery powered, 24 V battery maxMust be battery powered, 24 V battery max
�� Must clean 2 window sides per chargeMust clean 2 window sides per charge
�� Must be < 600 x 800 x 300 mm when ready to operateMust be < 600 x 800 x 300 mm when ready to operate
�� Must only touch the glass and surfaces within 25 mm of Must only touch the glass and surfaces within 25 mm of
the glassthe glass
Qualitative RequirementsQualitative Requirements
�� Must wash window autonomouslyMust wash window autonomously
�� Must be able to survive fall from windowMust be able to survive fall from window
�� Must have a simple user interfaceMust have a simple user interface
�� Must clean various sizes of windowsMust clean various sizes of windows
�� Must have a safety cord preventing it from falling 2 feet Must have a safety cord preventing it from falling 2 feet
below the middle of the lower window panebelow the middle of the lower window pane
�� Must have a Must have a ‘‘safety proceduresafety procedure’’ that causes the system to that causes the system to
remain on window when voltage drops below safe levelsremain on window when voltage drops below safe levels
�� Must return to starting point when finished cleaningMust return to starting point when finished cleaning
�� Must not damage window while cleaningMust not damage window while cleaning
Final Solution Final Solution -- CruiserCruiser
� Differential drive
robot
� Autonomous
operation
� Closed-loop motor
control
Final Solution - Cruiser
� Sliding teflon
vacuum seal
� 2-axis window
transfer system
HardwareHardware�� ElectronicsElectronics
�� Atmel AT90S8535 microcontrollerAtmel AT90S8535 microcontroller
�� GMGM--3 DC motors3 DC motors
�� MC33887VW amplifierMC33887VW amplifier
�� MLX90316 magnetic encodersMLX90316 magnetic encoders
�� LithiumLithium--ion prototype 3.7V batteriesion prototype 3.7V batteries
�� Consumer vacuum pumpConsumer vacuum pump
�� SensorsSensors
�� MPXV7002 pressure sensorsMPXV7002 pressure sensors
�� ADXL202E accelerometerADXL202E accelerometer
�� Pneutronics threePneutronics three--way solenoidsway solenoids
FabricationFabrication
�� BodyBody
�� Delrin plastic Delrin plastic
�� CNC fabricationCNC fabrication
�� OtherOther
�� Aluminum rods Aluminum rods
and bracketsand brackets
�� Delrin gearsDelrin gears
�� Small plastic Small plastic
water bottle for water bottle for
cleaning fluidcleaning fluid
Drive system
� Closed-loop PID control on 4 axis
� Low cost control system
� Lightweight power supplies� 3.7v battery weighs 22g each
Pneumatics
� Low cost pneumatic pump and valves
� Closed-loop vacuum control
� Sliding seal
� Collapsible piston seal
ASME CompetitionASME Competition
�� Device met qualifying requirementsDevice met qualifying requirements
�� Placed secondPlaced second
Test ResultsTest Results
Durable Fail
Simple User Interface Pass
Clean Various Size Window Pass
Remove 90% Dots Pending
Finish < 5 min Pending
Carry 50ml Water 50ml Pass
Safety Cord Pass
Weight < 1kg 998g Pass
< 24V Battery Supply 11.8V Pass
Clean 2 Window Sides Pending
Size Requirements
Height < 600mm 206mm Pass
Width < 800mm 289mm Pass
Thickness < 300mm 105mm Pass
Only Touch Glass Surface Pass
Unique ChallengesUnique Challenges
�� Teflon seal durabilityTeflon seal durability
�� 5 week development time5 week development time
�� Backlash in gear systemBacklash in gear system
�� Electronic integration Electronic integration
�� Wire managementWire management
�� Electrical noise (accelerometer)Electrical noise (accelerometer)
�� PID update frequencyPID update frequency
Final BudgetFinal Budget
�� Labor:Labor:�� $35.04 /hr$35.04 /hr
�� 40% overhead40% overhead
�� Final CostsFinal Costs�� $188.82 per person $188.82 per person ($100 budgeted)($100 budgeted)
�� Total w/ Labor:Total w/ Labor:
�� $49,811.27$49,811.27
Item Cost Motors $ 33.53
Encoders $ 54.57
Processors $ 150.00
Pressure Sensors $ 30.00
Accelerometer $ 5.00
Batteries $ 96.00
Charger And Adapter $ 26.00
Electrical Components $ 13.00
Pumps $ 20.00
Polymers $ 49.00
Foam/Felt, Tubing, Teflon $ 116.07
Aluminum Plate/Shaft $ 70.49
Wheels $ 21.83
O-rings, Roll Pins $ 23.00
Hardware, Grease $ 31.78
Mill Bit $ 10.00
Sand Paper $ 5.00
Supplies Total $ 755.27
Labor $ 35,040.00
Overhead $ 14,016.00
Grand Total $ 49,811.27
Production Cost Estimate
Component Quantity Cost Total
Motor 3 $3.00 $9.00
Encoder 3 $2.00 $6.00
Amplifier 4 $5.00 $20.00
Pump 1 $5.00 $5.00
Processor 2 $2.00 $4.00
Batteries 3 $5.00 $15.00
Hardware 1 $5.00 $5.00
Plastics 1 $5.00 $5.00
TOTAL $69.00
Demo VideoDemo Video
Demo VideoDemo Video
ConclusionConclusion
�� Final SolutionFinal Solution�� Successfully developed proof of conceptSuccessfully developed proof of concept
�� Demonstrated key technologiesDemonstrated key technologies
�� Performed at competitionPerformed at competition
�� Potential commercial product pending further developmentPotential commercial product pending further development
�� Prof. Nick RepanichProf. Nick Repanich
�� Prof. Dale WordProf. Dale Word
�� Prof. Daren OttenProf. Daren Otten
�� Mike RenwickMike Renwick
�� ASME Chico ChapterASME Chico Chapter
�� CSU ChicoCSU Chico
Acknowledgements