Panther B ot T ool C hanger

1. MAE 4193 – Mechanical Design 1 Project Review Presentation PantherBot Tool Changer • Jameson L. Tai  William Rae  Justin Nunn • In Partnership with All logos in this presentation is courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech University Publications.

2. Introduction • Organizational Breakdown • Project Background • Design Objectives • Tentative Designs • Project Timeline • Recommendations

3. Organizational Breakdown

4. Project Background • The PantherBot, also known as the PowerBot made by MobileRobotics, Inc., is a multifunctional robot • autonomously mapping terrain • equipped with sonar and laser range finder • robotic arm fitted with a parallel gripper and webcam • has a 802.11b WiFi antenna for wireless communications (Image Source: RASSL

5. Project Background (Image Source: RASSL)

6. Project Background • This team will create an autonomous tool changer such that the PantherBot will be able to perform the following functions inside the Olin Engineering Complex: • Open doors via twisting door handles • Open front door via pressing the handicap accessible button • Press appropriate buttons to recall and operate an elevator (Image Source: Robotics and Spatial Systems Laboratory (RASSL))

7. Design Objectives • To research on appropriate tools to perform the following functions in the Olin Engineering Complex without harming the PantherBot: • Open doors via twisting door handles • Open front door via pressing the handicap accessible button • Press appropriate buttons to recall and operate an elevator

8. Design Objectives • The tool changer and tools must not block the normal operations of the robot nor create safety hazards from usage of the tool changer. • This means this tool changer must not block or damage the following: • sonar sensors, • laser range finder sensor, • cameras, • emergency stop buttons, • any vents or access panels. • The tool changer also must not add any additional width to the robot since it is already approaching the width of a standard doorway.

9. Research • Topics to be researched: • Current door opening robots • Tool changing devices • Materials • Research is focused on examining other machines that can open doors and on various different devices that are used for changing out tool ends • Once sufficient research has been done in these areas, research on materials that need to be used will be conducted as designs for our tools are made

10. Design and Analysis • To meet the goals of interacting with doors and buttons, as well as storing and exchanging the tools, we will need to optimize our design for reliability, size and weight. • To do this we will use FEA with physical prototypes. • Weight restrictions are due to the forces the tool will put on the arm. • FEA testing will primarily be used to find areas where material needs to be added or can be removed to lighten the tools.

11. Design and Analysis • Arm Forces • To prevent damage to the arm we need to calculate the forces exerted on the arm in all configurations. • The arm is capable of withstanding higher loading if the joints are locked. • Swinging the arm with a heavy tool on the end puts the motors at risk if motion is not started and stopped smoothly. • Tool paths must be optimized to minimize forces on the arm

12. Fabrication Plan • We will fabricate most parts through Building 538 (Machine Shop) • If needed, we have set aside a budget for any necessary rapid prototyping before we proceed. • We will obtain reasonable off-the-counter parts if it is more cost effective to purchase the part than to produce in-house.

13. Testing Plan • We have set aside a budget for a testing rig, which will provide a viable test platform • Opening doors • Pushing door panel button • Pushing elevator buttons • The testing platform will provide feedback to the team regarding the repeatability of the tools, ease of operation, and storage functions. • Also, it will help determine if there are any problems with the tools before the PantherBot performs the predefined functions inside Olin Engineering Complex.

14. Tentative Designs • Button Pusher • Shall protect PantherBot’s body as well as its robotic arm • Shall protect elevator buttons and panels while tool is used • All motion will be generated by the parallel grippers

15. Tentative Designs

16. Tentative Designs • Door Opener • Shall open doors from both sides • Shall accommodate door handles in the left and right orientations • Shall allow the PantherBot to pass through safely before door returns to closed position

17. Tentative Designs • Tool Rack • The tool rack will be designed to accommodate the tools that are produced • Rough ideas: • Tentative positions of tools • Door opener will be contained in the front left (near the vent) of the PantherBot • Button pusher will be contained in the front right section since it is a larger tool. • Mounting • Tools will be mounted to existing structural rails.

18. Project Timeline Fall 2008 • Complete research in door opening techniques • Pushing door (September 2008) • Pulling door (September 2008) • Present tool design (October 2008) • Present tool changer rack design (October 2008) • Preliminary Design Review • Presentation (22 October 2008) • Report (22 October 2008) • Analysis on tools and tool changer (November 2008) • Final Presentation (03 December 2008) • Final Report (03 December 2008)

19. Project Timeline Spring 2009 • Fabrication (February 2009) • Testing (March 2009) • Showcase (April 2009)

20. Preliminary Budget • Test Stand Hardware $ 150 • Shop Materials $ 400 • Adapters to existing PantherBot arm $ 250 • Bushings/Bearings/Shafting $ 100 • Surface finishing $ 50 • Rapid Prototyping $ 250 • Miscellaneous Hardware $ 50 • Total Budget $1,250

21. Conclusion • We have a preliminary design of our button pusher. • We have conducted research on door opening mechanisms that would integrate with existing hardware. • We are working on several designs of our tool storage system. These designs will be revised as the tools are finalized.

22. Questions?