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PPR Examples and Database to Support PPR Design and Fabrication

PPR Examples and Database to Support PPR Design and Fabrication. Database Architecture. Must cover: Mechanical components Electrical components Software components Integration of all three components. Open Questions. How to organize? Hierarchy within each domain?

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PPR Examples and Database to Support PPR Design and Fabrication

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  1. PPR Examples and Database to Support PPR Design and Fabrication

  2. Database Architecture Must cover: • Mechanical components • Electrical components • Software components • Integration of all three components

  3. Open Questions • How to organize? • Hierarchy within each domain? • Are there databases that integrate across domains (e.g., mechanical plus electrical)? • What is the best way (language?) to describe integration and integrated functionality? • Understanding tradeoffs • Sacrificing system-level optimality

  4. Mechanical components • 8 kinematic rigid constraints • Lower pairs: planar • Revolute, prismatic • Lower pairs: spatial • Cams (higher pairs?) http://www.cs.cmu.edu/~rapidproto/mechanisms/chpt4.html#HDR53AB

  5. Mechanical Components (continued) • Linkages • Constructions with lower pairs • Mechanisms • Constructions with lower/higher pairs • Machines • Linkages or mechanisms that transmit forces and do work

  6. Electrical components • Sensors • Gyros • Accelerometers • IMUs • Joint sensors • Cameras • GPS Basic components • Passive (R, L, C) • Active • Transistors, diodes, amplifiers • Active for electromechanical • Micro controllers • Motor controllers • Processors • FPGAs • Low power processors • Integrated boards • Circuits • Actuators • Brushless DC • Brush DC • Motors + gearheads • Solenoids • Non-rotating (SMA, PZT, pnuematic) • Printable circuits/motifs • Premade designs • AHRS, data loggers

  7. Power • Battery (supercaps, dry-cell, wet-cell chemical etc.) • Solar Cell – piezo-electric - • Combustion engine • Heat • Spring – Dampers? • Compressed gas • Pressurized fluid • Transmitted power

  8. Communication/Interfaces Wireless • Radios (frequency, power, …) • IrDA • Wired • I2C • CAM • usb • parallel • Serial • Firewire • PWM • analog voltage • Ethernet • etherCAT

  9. Software components • Device drivers for actuators, sensors, radios • Inter-process communication • Sensor nodes • IMU • GPS • Laser Range Finder • Odometry • … • Actuator nodes • Motors • Propellers • Grippers • … • Controllers • Motion planning operations • Tracking • Transportation • … • Estimators • User Interface

  10. Eight Examples of PPRs Print, fold, assemble • Swamp boat • Steerable car • Quadrotor • Fixed wing Print, fold, assemble (Peek) • Quadrotor Lego-like modules • Humanoid • Snake robot • Jumping/running hexapod • Customized end effector

  11. Swamp Boat

  12. Steerable car

  13. Quadrotor

  14. Fixed wing flyer • 2 thruster https://www.youtube.com/watch?v=Ma5HmRyHl-4

  15. Fixed Wing Aircraft https://www.youtube.com/watch?v=Ma5HmRyHl-4

  16. Snake 24 G1V5 modules (maybe 20?) Each polybot G1V5 module Has an RC servo, a pic micro Batteries and structure https://www2.lirmm.fr/lirmm/interne/BIBLI/CDROM/ROB/2004/ISER%202004/Session10/04paper157/ID157.pdf

  17. Jumping hexapod Six Ckbot modules Plus fiberglass legs J. Sastra, S. Revzen, and M. Yim, "Softer legs allow a modular hexapod to run faster," in Climbing and Walking Robots (CLAWAR), 2012.

  18. Modular End Effectors

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