PantherBot Tool Changer

1. PantherBot Tool Changer Project Design Review Presentation Mechanical Engineering Design 2 – MAE 4194 11 March 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.

2. Project Introduction Overview (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

3. Introduction Project Purpose • The 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. Design Objectives • Design tools that allow PantherBot autonomous access around Olin Engineering Complex • Safe for people and robot • Doesn’t damage school facilities • Tools must not obstruct access to robot compartments • Tools must be visually appeasing

4. Introduction Goals • To apply our knowledge gained in class and properly apply them to this project • To apply technical skills, communication skills, and the engineering design process into the project • To operate safely while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with • To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm

5. Design and Analysis Update (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

6. Combination of Tools

7. Tool Analysis - Deformation (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

8. Tool Analysis - Strain (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

9. Tool Analysis - Stress (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

10. Tool Holder-EH (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

11. Tool Holder-EH (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

12. Tool Holder-PH (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

13. FabricationOverview (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

14. Fabrication Progress (the Prod)

15. The Prod

16. Fabrication (the Enterprise)

17. The Enterprise

18. Fabrication (Tool Holders)

19. The Enterprise Holder The Prod Holder

20. FCRAR 2009 • 2009 Florida Conference on Recent Advances in Robotics • May 21 ~ 22, 2009 • Florida Atlantic University • Jupiter, Florida • Technical Paper and Showcase Presentation • “Design and Implementation of Building Navigational Tools for the PantherBot Mobile Robot” • Abstract approved by FCRAR 2009 Review Committee (Image Source: http://www.eng.fau.edu/fcrar2009/index.html)

21. Timeline

22. Milestones and Deadlines Complete Fabrication of Parts – March 13, 2009 Complete Coding – March 20, 2009 Complete Testing – March 27, 2009 FCRAR Final Report –March 30, 2009 Senior Design Showcase – April 3, 2009 FCRAR 2009– May 21~22, 2009

23. Conclusion • We are wrapping up fabrication and will begin testing soon • Due to an ordering issue we were slightly behind, but have reorganized and will be able to finish on time • We will be finishing our project and preparing for the Design showcase and FCRAR 2009.

24. Questions?