1 / 20

Preliminary Design Review

Preliminary Design Review. WPI / Mass Academy FIRST Team 190: Gompei and the HERD. Presented By: Ken Stafford, Team Advisor Colleen Shaver, Director of Support Chris Werner, Director of Operations. What is FIRST?. Organization designed to inspire students in math, science, and engineering

Melvin
Download Presentation

Preliminary Design Review

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Preliminary Design Review WPI / Mass Academy FIRST Team 190: Gompei and the HERD Presented By: Ken Stafford, Team Advisor Colleen Shaver, Director of Support Chris Werner, Director of Operations

  2. What is FIRST? • Organization designed to inspire students in math, science, and engineering • Brings engineers and students together to work on a common problem • Introduces students to real world engineering challenges • Over 1000 teams around the world

  3. Our Team • One of only 6 teams involved continuously since the program began in 1992 • 2005 Recipient of the WPI University Ambassador Award for our community outreach, including over 40 demos per year • Called “the highlight of their WPI engineering education” by past alums • WPI’s “#1 women and minority outreach program”

  4. Operations 2006 Game Introduction Brainstorming Mechanical Controls

  5. The Game Game Animation

  6. Brainstorming • Discussed strategies as a team • Established an ordered list for gameplay • Score balls • Collect/Contain Balls • Score on platform • Defense-specific • Push Balls

  7. Brainstorming • Met in three groups to develop initial robot designs • After three days, groups convened to present ideas • 2 groups designed conveyor systems to a single shooter with an omni-wheel drive • 1 group designed a track system with revolver using a standard drive system

  8. Final Design • Six-wheel drive with two speeds • Ability to get balls from the floor and human player • Controlled delivery to shooter • Ability to shoot balls into center goal on-the-fly from our side of the field • Many offensive and defensive autonomous options

  9. Mechanical – Driveline/Chassis • Driven by 4 CIM Motors through a two stage reduction • Six 5” rubber caster wheels • Provides both traction and shortened wheel base • Speeds up to 14 ft/s • Ludicrous Speed Drive • Four 3” rubber caster wheels • Powered from main wheels • Pneumatically raised and lowered • Provide velocities up to 16 ft/s

  10. Mechanical – Ball Collection • Series of 2” PVC rollers with rubber • Spins at 3000 rpm • Powered by mini-bike motor • Balls lifted into storage area (hopper or directly into single-file tracks)

  11. Mechanical – Ball Sorting/Storage • Balls jam themselves very easily • Hopper design is the most advantageous • Quick loading, high capacity • Most difficult to extract single balls from • Sorting balls into single-file as they are received is most efficient • Decreases capacity • Delays floor-to-air time

  12. Mechanical – Ball Launching • Ball pitcher on turret to allow for 360 degree shooting • Launch balls in parabolic trajectory from the top of the robot • Ability to score from 6 to 21 feet using same release angle

  13. Mechanical – Ball Launching • Contain pitcher mechanism at bottom • Pneumatic cylinder to lift ball into pitcher • Two 4” rubber wheels in series • Second roller geared faster than first roller • Fixed deflector angle allows wide shooting range due to ‘flat’ trajectory

  14. Controls • Controls challenge: • Continuously keep the turret/pitcher aimed at the center goal even while the robot is moving • Operate all the other robot mechanisms to ease the human operator workload • Multiple autonomous strategies including scoring balls on the center target during initial 10 sec period • Provide many operator automated operations • Many controls functions have already been prototyped on VEX Robots

  15. Controls – Navigation • Distance Measurement • CMU Camera • Computes distance to target using color tracking and calculating based on y-axis • Computes horizontal offset using x-axis position • Wheel Encoders • Provide velocity information for shoot-while-driving function • Robot Orientation • Compass • Provides coarse heading information necessary for robot orientation

  16. Autonomous Requirements • No additional programming complexities • Everything prototyped except shooting while moving • Based on our last years’ autonomous engine • Very similar to driver-operated periods • Vision camera tracks light and determines when to shoot • Ability to select delays and different paths to drive for unpredictability and compatibility with alliance partners

  17. Controls – Operator Interface • Driver controls both driveline and ball collector • Additional operator station to control ball launching • Switch to indicate offensive/defensive periods • Ability to fine tune the shooting vector • Fully automated or fully manual shooting modes • Robot sensor feedback to operator • Indicator lights to show target acquisition • Considering heads up display to indicate ball locations and accuracy of acquired target (audial tones)

  18. Timeline Milestones • Jan. 7th – Kickoff • Jan. 11th – Strategy decision • Jan. 15th – Overall configuration • Jan. 27th – Preliminary Design Review • Jan. 30th – Chassis built • Feb. 5th – Driver try-outs • Feb. 7th – Mechanical subsystems built • Feb. 11th – Systems integrated • Feb. 17th – Critical Design Review • Feb. 18th – UTC Scrimmage • Feb. 21nd – Ship robot

  19. Competition Schedule • UTC Scrimmage (Suffield, CT) • February 18th, 2006 • Granite State Regional (Manchester, NH) • March 2nd – 4th, 2006 • Florida Regional (Orlando, FL) • March 10th – 12th, 2006 • Championship Event (Atlanta, GA) • April 27th – 29th, 2006

  20. Questions? For more information visit our website at http://www.wpi.edu/~first/ Anyone is welcome to visit us in the HL005 weekdays after 1600, Saturdays after 1000, and Sundays after 1200.

More Related