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Tiger Scramble Robot Design Hannah Hoppenstedt Josh Nelson

Tiger Scramble Robot Design Hannah Hoppenstedt Josh Nelson. Presentation Outline. Major Component Connections Operations Subsystems and Components Requirements Component Specifications Budget. Major Component Connections. Communication. Ball Control. RF Receiver. Servo. Brains. BS2.

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Tiger Scramble Robot Design Hannah Hoppenstedt Josh Nelson

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  1. Tiger ScrambleRobot DesignHannah HoppenstedtJosh Nelson

  2. Presentation Outline • Major Component Connections • Operations • Subsystems and Components • Requirements • Component Specifications • Budget

  3. Major Component Connections Communication Ball Control RF Receiver Servo Brains BS2 BS2p 40 Bumper Switch Locomotion MMC Motor Motor

  4. Operations • Find closest ball to goal • Travel to and capture ball • Put ball in goal • Avoid opponent robot

  5. Subsystems and Components • Microcontrollers • Locomotion • Motors • Wheels • Ball-Control Apparatus • Battery • Chassis

  6. Communication Requirements • Receive data from vision system • Want to receive every packet • Do not want BS2p40 tied up for 33 ms per packet

  7. Basic Stamp 2 • Receives info from the vision system • Sends the data to the BS2p 40 for calculations • At the maximum flow control baud rate of 19.2k, it takes 3.75 ms to send 9 bytes • BS2 to BS2p Connection (4 I/O pins) • One pin for serial data transfer • One pin for flow control • Two pins for handshaking

  8. AI Requirements • Calculations on vision system information • Distance • Angle • Integer Comparison • Interpret commands from Vision System • Execute all functions between packets • 100 ms between first bits of two consecutive packets • Memory • 53 Bytes

  9. Basic Stamp 2p 40 AI Requirements

  10. Control RequirementsComponent Connection • Sufficient number of I/O pins • Control servo (1) • Bumper switch (1) • Motor Mind C (2) • Fill registers on MMC to control speed and direction • BS2 (4) • Need 8 I/O pins

  11. Basic Stamp 2p 40 AI

  12. Connection Need 8 I/O pins BS2p 40-pin module has 32 general purpose I/O pins Memory Need 53 bytes BS2p has 128 bytes of scratch pad RAM and 26 bytes of variable RAM Basic Stamp 2p 40 AI

  13. Locomotion Requirements • Motor Control • Motors • Motor Mounts • Wheels • Wheel hubs

  14. Motor Control Requirements • Generate pulse width modulation • Speed control • Provide adequate current to motors

  15. Motor Mind C • Generate pulse width modulation • Duty cycle of PWM varied according to register value in serial mode • Includes 2 H-Bridges • Current control • Connected to each motor with three output lines

  16. Motor Requirements • Sufficiently low stall current • 1.5 A • Lightweight • Speed • 0.5 m/s • Torque • Minimum 18.08 oz-in

  17. Copal Gearmotor 60:1

  18. Motor Mount • Lexan • Light weight • 4 grams • Simple assembly

  19. Wheel Requirements • Provide adequate ground clearance • Minimum of 2 cm • Shock absorbent for motors

  20. Lite Flite Wheels • Foam • Light weight • 11.3 g each • Shock Absorbent • Ground Clearance • 6.35 cm diameter wheels • 3 cm

  21. Ball-Control Apparatus • Gripper • Simple design • Detect Ball Capture • Bumper Switch • Ball Capture • Servo and armature

  22. Detect Ball Capture SPDT Switch SL-2NW1 Ball Capture Servo and armature Futaba Continous Rotation Servo Ball-Control Apparatus

  23. Battery Requirements • 12 V • Speed control flexibility • Withstand 15 minute rounds • 0.3 AH at 12 V

  24. Battery Usage Capacity = Total Power / 12V * (15 / 60) = 0.3 AH

  25. 12-V 500 mAH NiMh Brick AntPack • 0.5 AH exceeds required 0.3 AH • Meets 12 V requirement • Run Time = 25 mins.

  26. Chassis Requirements • Space availability • Allow easy access to parts • Flat black top • Flat front for ball control apparatus • Lightweight • Durable

  27. Expanded PVC • Weight • 450 g with standoffs • Weight Limit • 4 kg • Need 750 g • Easy to design and build a robot out of this material • Easy to implement multiple decks

  28. Battery Bottom Chassis layer

  29. Middle Chassis layer Bumper Switch Servo Receiver BS2 BS2p MMC

  30. Top Chassis Layer

  31. Budget Revision 2

  32. Conclusion • Simple design • Meets requirements • Speed • Microcontroller capabilities • Ball control • Within budget

  33. Questions or comments?

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