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ECE 496 PENDUBOT MID-TERM PRESENTATION

ECE 496 PENDUBOT MID-TERM PRESENTATION. Anna Hart Brad Heath Matthew Poeta. Michael Rock Debbie Schneider Jae Sin. OUTLINE. PROJECT OBJECTIVE PROJECT SPECIFICATIONS/GOALS SCHEDULE ROLES HARDWARE DESIGN HARDWARE ACQUISITION ACCOMPLISHMENTS …THE NEXT STEP!. PROJECT OBJECTIVE.

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ECE 496 PENDUBOT MID-TERM PRESENTATION

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  1. ECE 496PENDUBOTMID-TERM PRESENTATION Anna Hart Brad Heath Matthew Poeta Michael Rock Debbie Schneider Jae Sin

  2. OUTLINE • PROJECT OBJECTIVE • PROJECT SPECIFICATIONS/GOALS • SCHEDULE • ROLES • HARDWARE DESIGN • HARDWARE ACQUISITION • ACCOMPLISHMENTS • …THE NEXT STEP!

  3. PROJECT OBJECTIVE • Design and build a system to balance the pendubot • Make pendubot perform a specific acrobatic maneuver in minimum time

  4. PROJECT SPECIFICATIONS • INVERTED PENDULUM BEHAVIOR • TWO LINKS, EACH 18-INCHES LONG • ONLY ONE MOTOR MAY BE USED • ONLY ENCODERS MAY BE CONNECTED TO THE ARMS • FIGURE 1 SHOWS PENDUBOT SCHEMATIC

  5. SCHEMATIC

  6. BLOCK DIAGRAM

  7. GOALS • DESIGN AND CONSTRUCT PENDUBOT THAT MEETS DESIGN SPECIFICATIONS • BALANCE ARM IN INVERTED POSITION IN LEAST AMOUNT OF TIME • WIN COMPETITION!!

  8. SCHEDULE

  9. ROLES • Engineer - a crafty schemer (obsolete)

  10. ROLES • Group Leader: • Matthew Poeta • Hardware Engineers: • Brad Heath • Michael Rock • Debbie Schneider • Software Engineers: • Anna Hart • Matthew Poeta • Jae Sin

  11. HARDWARE DESIGN • PENDUBOT ARM

  12. THE GREAT MOTOR FIASCO • LAWRENCE’S SALVAGE • FRICK’S USED CARS/AUTO SALVAGE • BRAD’S DRILL  • THE “ROAD TRIP”

  13. HARDWARE DESIGN • MOTOR • 90 VDC PERMANENT MAGNET, ½ HP, 1725 RPM

  14. HARDWARE DESIGN • ENCODERS • 1000 PULSES PER REVOLUTION, DUAL QUADUATURE CHANNEL • SUPPLY VOLTAGE: 5-24 VDC • CURRENT: 175 mA

  15. HARDWARE ACQUISITION • MOTOR DONATED BY: ($231) • ENCODERS DONATED BY: ($600) • PENDUBOT ARMS DONATED BY: ($280)

  16. HARDWARE ACQUISITION • PC BREAKOUT BOARD COMPONENTS DONATED BY A GRANT FROM THE CLEMSON UNIVERSITY ECE DEPARTMENT

  17. ACCOMPLISHMENTS • TESTED PC BREAKOUT BOARD • TESTED MOTOR WITH VARIOUS SOURCES IN SIMULINK • TESTED ENCODERS IN SIMULINK

  18. …THE NEXT STEP • PENDUBOT COMPLETION • MOUNT ENCODERS • ASSEMBLE THE ARMS • DEVELOP SOFTWARE BLOCK DIAGRAM • “TWEAK” THE SYSTEM • WIN $500!! (AND SELL COMPONENTS)

  19. QUESTIONS??

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