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Wall-Climbing Robot: Design and Implementation

This project outlines the design and implementation of a small, lightweight, and autonomous wall-climbing robot using passive adhesives. The system overview, structural/mechanical design, electronics subsystem, control system, and future development are discussed. The market outlook, research opportunities, and lessons learned are also presented.

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Wall-Climbing Robot: Design and Implementation

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  1. Curtis Gittens DanielGoundar Daniel Law Johannes Minor April 14th 2008

  2. The Team • Curtis Gittens • Electronics • Microcontroller Programming • Dan Law • Electronics • Parts Selection & Purchasing • Johannes Minor • SolidWorks • Controller Design • Daniel Goundar • SolidWorks • Adhesives & Passive Pre-loading

  3. Outline • Motivation • System Overview • Design & Implementation • Structural/Mechanical Design • Electronics Subsystem • Control System • Timeline and Finances • Future Development • Market Outlook/Research Opportunities • What we have learnt as a Team • Conclusion • Acknowledgements • Questions

  4. Motivation • Useful in hostile & inaccessible environments • Can substitute robots where human safety would be at risk • Diverse applications (inspections, research, maintenance) • Large increase in research into highly mobile robots, capable of navigating both natural and artificial terrain • Rapidly growing field of research, little product development

  5. Solution • Small robots that can navigate man made environments, without being impeded by walls and corners • Light-weight, durable, and autonomous • Wall scaling using passive adhesives • Mobility in two dimensions on horizontal and vertical surfaces • Inexpensive commercial wall-climbers

  6. System Overview • Functional Requirement Summary • Diverse mobility • Scalability

  7. Design & Implementation:Module Design Iterations First Iteration: • Drive Belt System • Motor Mounted in Center • Optical Encoder shaft passes through axle • Spring loaded front axle • Spindly chassis supports • Weight: 45g Second Iteration: • Motor attached directly to wheel • More integrated optical encoder • Improved strength in spring axle • More robust chassis • Reduced wheel-channel depth • Weight: 41g Final Iteration: • Light-weight dual potentiometer design • Identical front end • Substantial weight savings • Weight: 31g

  8. Design & Implementation: Single Module Design

  9. Design & Implementation:Single Module Design GM14a Gear Motor Track Belt Drive Wheel Spring-loaded front axle to keep track belt in tension Two rotary Potentiometers, 180 degrees out of phase

  10. Design &Implementation:Inter-ModuleConnections

  11. Design & Implementation: Tail Design

  12. Design & Implementation: Adhesive Selection • Used a variety of household adhesives • Varying results (scotch & carpet tape, foam, rubber cement) • Issues with adhesive separating from belts • Carpet tape was the final choice of adhesive

  13. Design & Implementation: Electronic

  14. Design & Implementation: Electronic

  15. Design & Implementation: Electronic Component Selection • Microcontroller- TI MSP430F169 • Hardware timers for motor drive and input sampling • 12 bit ADC • Hardware multiplier • Analog Multiplexers - DG408 • Just your standard 8x1 Analog Mux • H-bridges - L293D • Quad Channel • Push button remote

  16. Design & Implementation: Software • Interrupt driven • Scalable • Digital filtering of potentiometer feedback • Fixed point signal processing

  17. Design & Implementation: Single Module Speed Control

  18. Design & Implementation: Smooth Turning Algorithm

  19. Design & Implementation: Smooth Turning Algorithm

  20. Timeline

  21. Budget

  22. Funding

  23. Market Outlook/ Research Opportunities • Nuclear power plant inspection • Space research • Maintenance on tall structures

  24. Future Development • Autonomous control • Active pre-loading • Advanced Adhesives

  25. What We Have Learnt • Difficult to design in parallel when electronics and mechanical designs require integration from the start • Signal noise manages to creep into most everything • Shipping inflates total cost of components • Budgeting for time improves with experience • Debugging and tweaking takes bulk of development time

  26. Acknowledgements • Dr. Carlo Menon • Input and feedback on design choices • Gary Houghton • Rapid prototyping of plastics • ESSEF Endowment Fund • Funding ($470.00)

  27. Questions • Videos and Demonstration

  28. Appendix • Performance Summary • Technical Information: Results • Financial Details

  29. Performance Summary

  30. Technical Information: Results

  31. Technical Information: Results

  32. Technical Information: Results

  33. Cost for 6 Modules

  34. Sample Second Order Filter Output

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