Human Extraction Rescue Robot Material Handling Methodology & Proof-of-Concept Prototype

1. Human Extraction Rescue RobotMaterial Handling Methodology & Proof-of-Concept Prototype Matthew P. King Erin B. Rapacki In partnership with… ADVISORS Prof. Tom Cullinane Prof. Greg Kowalski

2. Problem StatementPerform a Robotic Extraction of a 200lb Manikin ATHENAProof-of-Concept Payload Matt King & Erin Rapacki Northeastern University

3. Length 40 Inches Width 29 Inches Height 18 Inches (stowed) Distance: Front wheels 24 Inches Weight Vehicle weight: 250lbs Onboard power & communication for tele-operation Payload Surface Tilts Rotates upward around wheel hubs iRobot WARRIORRobotic Mobility Platform Tilts Upward Center of Rotation 24” Span Matt King & Erin Rapacki Northeastern University

4. Height 73 Inches Width Shoulders 23 Inches Head dimensions Diameter 7 Inches Top of head to shoulders 10 Inches Weight 200lbs Rescue Randy200lb Manikin Matt King & Erin Rapacki Northeastern University

5. Established base-line scenario Rescue Randy Flat back Face up Environment Indoor setting Smooth floor Hard flooring Office carpet Proof-of-concept payload Mechanically functional system 200lb manikin Extraction ScenarioFlat Back & Face Up; Indoor Setting Matt King & Erin Rapacki Northeastern University

6. Extract manikin in a head first orientation Utilize WARRIOR’s tilt capabilities Torque and loading specifications Manikin’s physical dimensions Design ConsiderationsiRobot WARRIOR & Rescue Randy Tilts Upward Center of Rotation 24” Span Matt King & Erin Rapacki Northeastern University

7. Material Handling Methodology OutlineHead-First; Use Tilt • Head-first extraction • Use shoulders to initiate lift • 23” span to manipulate • Create access point under the torso • Extend platform underneath the back • Transfer manikin’s mass to platform surface • Rescue Randy conveyed up WARRIOR platform Matt King & Erin Rapacki Northeastern University

8. Linear drive delivers head support and effecting forks Head support cushions bias forward Cushions articulate around head Effecting forks initiate lift by propping the shoulders off the ground Prototype DesignHead & Shoulder Lift 1 2 3 4 5 Matt King & Erin Rapacki Northeastern University

9. Extend platform under torso Utilizing access point created by shoulder lift Driven by rack & pinion system Unfurl conveyor belt under torso Manikin’s mass on belting Pull belting up platform Via linear drive Belting stored under payload Spring-loaded roller Prototype DesignConvey Rescue Randy up Payload 6 7 8 Matt King & Erin Rapacki Northeastern University

10. Conveyor belting (yellow line) loaded onto a spring roller at the beginning of extraction Conveyor belting (yellow line) unfurled 80” at the completion of an extraction Prototype DesignConveyor Function Matt King & Erin Rapacki Northeastern University

11. 1 2 Extraction Description 3 5 4 6 7 8 Matt King & Erin Rapacki Northeastern University

12. Head Support / Forks Component DefinitionFour Sub-Assemblies Litter Motors & Linear Drives Spatula Matt King & Erin Rapacki Northeastern University

13. Components 0.5” Aluminum Side Rails Cut-outs for weight reduction 0.5” Aluminum Base Rails Interface with WARRIOR Top Panel 3/16” Aluminum Sheet Analysis Lowest safety factor: 4.3 Non-uniform loading on cantilevered portion Litter DesignComponents & Structural Analysis: 200lbs Rear Litter Support Stress Analysis Front Litter Support Analysis: Stress and Deformation Matt King & Erin Rapacki Northeastern University

14. Components 0.5” Aluminum Rails 3/16” Aluminum Platform Spatula-Conveyor Interface Fixed at end of spatula Drawer Slide Capacity: 280lbs at 24” span Analysis Lowest safety factor: 3.6 Non-uniform loading on tip of front rail Spatula DesignComponents & Structural Analysis: 200lbs Front-Rail Deformation Front-Spatula Stress Analysis Matt King & Erin Rapacki Northeastern University

15. Head Cushions Head cushion rails rest on forks Spring Biasing Arm Provide passive head support and biasing along forks Fork Design Frelon Slides & Blocks 3” Wide, 1.5” Thick Analysis Safety factor: 3.2 Single fork supporting 200 lb. load at end Head Support & ForksBio-metrics & Structural Analysis: 200lbs Spring Biasing Arm Forks Head Cushions Fork Deformation Fork Stress Analysis Matt King & Erin Rapacki Northeastern University

16. Linear Drive Assemblies Central Lead Screw and Spatula Rack • 0.5” precision lead screw • 50 in-lb torque • Spider coupling • Lead screw–to–motor shaft • misalignment compensation • Versa-mount rail and block • Buckling resistance • Spatula extension and retraction • Rack and pinion, ½” face width • Under mount on spatula surface Matt King & Erin Rapacki Northeastern University

17. Motor and Control DesignPulse width modulating RC controller and DC gear motors • Vantec speed controller • RC to maintain tele-operation when mounted to WARRIOR • Dual 20 amp continuous channels • Pulse width modulation • 24 vdc gear motor • Torque to 100 in-lbs at 19.12 amps • Independent Power Supply • Dual 12 vdc motorcycle batteries • Provide necessary instantaneous current source Matt King & Erin Rapacki Northeastern University

18. Demonstrates component functionality Loading and actuation Drive systems and structure Functional mechanical system Load capacity for 200 lb manikin Motor specifications for control integration Final DeliverablePayload Prototype Matt King & Erin Rapacki Northeastern University

19. ProjectionDesign Improvements • At iRobot • Integrate motors and control system • Demonstrate extraction methodology with WARRIOR • Long Term • Weight reduction: • Custom slide system for spatula • Light materials • Titanium • Delrin • Aluminum Super Alloys • Modify extraction process according to testing • Additional features, details, & appendages • Extraction in tighter areas Matt King & Erin Rapacki Northeastern University

20. Human Extraction Rescue RobotMaterial Handling Methodology & Proof-of-Concept Prototype Final Report QUESTIONS?