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INTRODUCTION TO ENGINEERING “ROBOTIC CHALLENGE” PROJECT IN SECONDE I.S.I. CLASS Grésivaudan Technical College Meylan

INTRODUCTION TO ENGINEERING “ROBOTIC CHALLENGE” PROJECT IN SECONDE I.S.I. CLASS Grésivaudan Technical College Meylan. To be changed. PREPARING FOR THE OPEN STAGE GATE. Deliverable Team introduction Project Management Process and Stage Gates Introduction projet document read and signed.

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INTRODUCTION TO ENGINEERING “ROBOTIC CHALLENGE” PROJECT IN SECONDE I.S.I. CLASS Grésivaudan Technical College Meylan

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  1. INTRODUCTION TO ENGINEERING “ROBOTIC CHALLENGE” PROJECT IN SECONDE I.S.I. CLASSGrésivaudan Technical College Meylan To be changed

  2. PREPARING FOR THE OPEN STAGE GATE • Deliverable • Team introduction • Project Management Process and Stage Gates • Introduction projet document read and signed

  3. Team introduction To be changed • Classe • 207 • Robot name • R2 D2 • Students names • QUIROUL Pierre • MONTANTE Josette • POULAIN Amélie • ROCHE Jacques

  4. OPEN PRODUCE What the customer wanted What the designed product does THE CUSTOMERS REQUIREMENTS THE PRODUCT DESIGNED FOR THE CUSTOMERS Characterization of the service functions and architecture orientations Activities of Products Validation Downward V Upward V IMPLEMENT SELECT Activities of Technical Functions definition Activities of Technical Functions verification DO THE FINAL SOLUTION Project Management ProcessProject Reviews = Stage gates

  5. 1 - Specifications • Design autonomous robots starting from the same base to catch / drag and drop as many pucks as possible: • on the metal plates = 1 point • in the box = 3 points • on the balcony = 5 points

  6. Introduction projet document

  7. OPENING STAGE

  8. PREPARING FOR THE SELECT STAGE GATE • Deliverable • Basic robot picture with components characteristic’s • Robot physical characteristic’s • Wheel motor wiring diagram • Actual wheel motor wiring • Sensors wiring diagram • Basic program to reach puck and goal • Solid works • Basic robot parts and assemblies feature manager (SW) • Robot parts files organization (SW) • Winning strategy • Service function and priorities

  9. Discovering and understanding • How the basic robot works • Defining a winning strategy

  10. O Basic robot components Battery Relays Wiring plate Wheel motors Whell Automat Optical sensors Mechanical sensors Inductiv sensors

  11. O Sensors characteristic 2 reflex sensors (12v-0.035A) 2 proximity sensors (12v-0.035A) 1 inductive sensor (12v-0.3A), already wired 4 mechanical sensors normaly closed

  12. O Automat characteristic Automat crouzet XT20s + Xc : 12v-0.4A Inputs = 4 logic + 8 analogic + 4 logic on extention + 6 buttons on face. Outputs = 6 pwm + 2 simple contacts + 2 simple contacts on extension

  13. O Relays characteristic 8 relays 12v-0.05A: 5 already wired to the wheels, 3 double contacts avaible on wiring plate

  14. O Wheel motors characteristic 2 wheel motors already wired: Motor rotation velocity = 12v-4320Rpm (round per minutes) Motor torque = 0,007 Nm Gear reduction coefficient = 40, Electric current consuption = 0.5A each

  15. O Wheel and physical robot characteristic Wheel rotation velocity =. 4320Rpm /40 = 108 Rpm = 108/60 Round per second = 1.8 Rps = about 2 Rps Wheel perimeter = 3.14 x 0.075 =0.2355 m Robot velocity = 0.2355 x 1.8 = 0.4239 m/s = about 0.4 m/s Weel theorical torque = 0,007 Nm x 40 = 0,28 Nm C = FR, so F = C/R x 2 wheels Theorical motive force F = 0.28 / 0.0375 = 7.5 N F = 15N minus friction in gear box

  16. O Batteries characteristic The battery capacity is 6v-7Ah and 12v -7Ah with serial wire Current electrical consuption = 2x0.5 + 4x0.035 + 0.4 + 0.3 = 1.84A = about 2A Battery life is Th=QAh/Iah =7Ah/2A = about 3,5h

  17. O Wiring plate characteristic Power supply = 12v,6v,0v With fuse = 12v, 6v Load input with fuse = 12v Avaible automat inputs = 7+4 Avaible automat outputs = 3 double + 2 simple contacts

  18. O Wheel motor wiring diagram Automat Relays Batteries

  19. O Actual wheel motor wiring 0v contact key 6v fuse 12v fuse

  20. O Sensors wiring diagram 0v contact key 6v fuse 12v fuse +e13 à e16 e1: puck e2: goal e3: caught puck e4: available e5: metal plate

  21. Defining a winning strategy • Witch goals • Witch Service functions for the designer Box Wiring plate Balcony F4 F3 F5 Robot structure F2 Studied Mechanism Game rules F6 F1 F7 F8 Field Puck Metal plate

  22. Characterize the service functions To be changed

  23. SELECTING STAGE

  24. PREPARING FOR THE DO STAGE GATE • Deliverable • Isostatic Kinematic diagram • Technical Function Architecture chart • Functional Condition Dashboard (Technical Functions) • Efforts calculation • Engine selection (velocity and torque) • Engine wiring diagram (crococlip) • Team skills allocation • New components price • Project schedule

  25. kinematic diagram To be changed Point contact joint Rotational joint Fork Puck Chassis Point contact joint Point contact joint Cylindrical joint Electromagnet

  26. kinematic diagram To be changed Rotational joint Chain Chassis Gear Point contact joint Rotational joint Translational joint Fork Point contact joint Puck Electromagnet Cylindrical joint

  27. Technical Functional Architecture Chart Robot chassis TFc13 StudiedMechanism Mechanism Chassis TFc1 TFc10 TFc11 Motor Wiring plate TFc9 TFc2 Gearbox TFc12 Sensor TFc3 TFc8 Lift arm TFc4 TFc5 Fork Electromagnet TFc6 TFc7 TFf1 TFc = technical function of contact TFf = technical function of flew Puck

  28. C F2 a b F1 c F3 Engine selection To be changed • EffortsF1 x a + F2 x b + F3 x c = C (Nm)3 x 0.4 + 2 x 0.3 + 5 x 0.25 = 3.05 Nm • Duration of the movement • 4 s per round • About 2 second • for half Round • Engine selectionComo drill 12v - 15 Rpm – 5 Nm

  29. R F C Engine selection To be changed • Engine selection • Como drill 12v - 85 Rpm - 1Nm • Efforts and velocity • Pinion rotation velocity = 85 Rpm = about 1.5 Rps • Pinion perimeter = 3.14 x 0.04 =0.125 m • Chain velocity = 0.125 x 1.5 = about 2 m/s • Torque C = FR • Force F = C/R = 1 / 0.02 = 50 N

  30. Functional Condition Dashboard (technical function)

  31. Engine wiring diagram • Description • 1 lifting motor • 1 electromagnet • 5 Outputs / 5 Relays • o6 / 6-12v • o7 / electromagnet on • o8 / motor on • o9 / switch motor rotation Output 9 8 7 6 To be changed

  32. Team skills allocation and project schedule To be changed

  33. DOING STAGE

  34. PREPARING FOR THE IMPLEMENT STAGE GATE • Deliverable • 3D model (parts and assembly) • Actual wiring picture • Program • Functional Condition Dashboard (Parameters)

  35. 6 - Computer Aided Designing • 3D parts and assembly To be changed

  36. 6 - Computer Aided Designing • Electric components actual wiring To be changed

  37. 7 - Programming • Behavior • Robot personality. To be changed

  38. Functional Condition Dashboard (Parameters) To be changed

  39. IMPLEMENTING STAGE

  40. PREPARING FOR THE PRODUCE STAGE GATE • Deliverable • Drawings • Manufacturing parts • Component Quality Control Plan • Adaptations • Final program • Autonomous robot demonstration

  41. 8 - Manufacturing To be changed • Drawing of the parts • Manufacturing parts • Checking the parts compliance

  42. Component Quality Control Plan 31.1 To be changed 16.3

  43. 9 - Assembling and Testing • Observing dysfunctions • Measuring the gap between real and virtual versions • Making necessary adaptations

  44. PRODUCING STAGE

  45. PREPARING FOR THE SELL STAGE GATE • Deliverable • competitive spirit • being a good sport !

  46. 10 - TO WIN • Last adjustments to win ! • Noting the initial strategy effects.

  47. SELLING STAGE

  48. PREPARING FOR THE CLOSE STAGE GATE • Deliverable • organisation of the files directory • finalized power-point slide show • saved in the right class folder To be changed

  49. 11 - Classifying and filing • For next year’s class to improve the robot performances/results.

  50. CLOSING STAGE

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