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Moonavators

Moonavators. Team Members: Michael Mahlum Jake Conn Craig Craviotto Shane Duff Caitlin Flynn Hans Leidenfrost. Outline. Background First Semester Work Mechanical Overall Base Shoulder Elbow Wrist Poker. Electrical Control System Outline Microcontroller Motor Controllers

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Moonavators

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  1. Moonavators Team Members: Michael Mahlum Jake Conn Craig Craviotto Shane Duff Caitlin Flynn Hans Leidenfrost

  2. Outline • Background • First Semester Work • Mechanical • Overall • Base • Shoulder • Elbow • Wrist • Poker • Electrical • Control System Outline • Microcontroller • Motor Controllers • Control Interface

  3. Background • RLEP – NASA sponsored program to develop small scale robotics to aid in exploring the lunar surface • Purpose: Design a robotic manipulator device capable of effectively breaking through hard soil and chipping rocks. • Moonavators Team - 6 members

  4. K-10 Rover

  5. First Semester Work • L07 redesign • Stiffen arms • Add gearing to remove slop from system • Research/ Initial development

  6. M08 Robot

  7. Base • Direct Drive Motor Housing • Provide polar motion to robotic arm • Friction free motor

  8. Shoulder • Motor and gearbox are paired • High torque, light weight • Controls vertical arm movement

  9. Elbow • Small motor high torque, low speed • 60:1 gearbox for increased torque • Increase the precision of linear positioning

  10. Wrist • Small motor high torque, low speed • 120:1 gearbox for increased torque • End effecter positioning

  11. Shovel • Scooping • Pushing • Lifting • Impact Force

  12. Percussive Poker Development

  13. Poker • Purpose to chip rocks and break hard soil • Fracture with quick and repeated impact • Double impact cam action • High speed low torque motor • Heat treated components

  14. Electrical

  15. Control System Outline • User interface • Playstation controller • Microcontroller • Rabbit 4110 microprocessor • Types of motor controllers • BLH 450, shoulder motor • B15A8N, base motor • BH-25, elbow, wrist, poker motors

  16. Microcontroller • Rabbit 4110 • Replaces Two Basic Stamp’s, Mini-ITX

  17. Motor Controllers • BLH 50 K (Oriental Motor Co.) • Shoulder motor • B15A8N (Advanced Motion Control) • Base motor • HB-25 (Parallax) • Elbow, Wrist, Poker motors

  18. Control Interface • Human user interface • Playstation controller • Serial port interface • Can be externally controlled via serial port

  19. Thank You • NASA Ames • NASA Idaho Space Grant Consortium • Mentors: • Aaron Goodin • John Lacy • Russ Porter • UI Faculty: Steve Beyerlein, Jean Teasdale, Dave Atkinson, Becky Highfil, and others.

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