RP1: Second GenENRATION 1KG Motor Module

1. Sponsor: Dr. Edward Hensel – Mechanical Engineering Department Faculty Guide: Dr. Wayne Walter – Mechanical Engineering Department TA: Todd Fernandez – Mechanical Engineering Graduate Student Team Members from left to right: Greg Leaper (ME) Michael Egan (ME) Lauren Farnsworth (ISE) Matt Missel (ME) MISSION STATEMENT As part of the Vehicle Systems Technology Track of the Multidisciplinary Senior Design Program, the goal is to construct a land-based robotic platform that can carry a payload of 1kg. It must be open source, open architecture, and well documented for future teams. P09203 2008-2009 Project overview The main focus of the P09203 Team was to design and develop motor modules for a future platform. The team has built a second generation motor module set, which is a part of a larger family of products; this larger family is the RP (Robotic Platform) Series. Another team (P09204) focused on the electrical components while a future team will develop a chassis. The motor module should support several applications including: educational programs, research & development projects, and outreach programs within and beyond the RIT KGCOE community. The mechanical engineering department and the Kate Gleason Foundation have provided the funds to develop the modules for this project. Customer requirements Design Analysis • Robust design • Support a 1kg payload • Infinite effective motion • High system efficiency • Professional look and feel • Designed for mass production • Open source and open architecture Maximum Displacement: 0.00006 in Velocity Profile RP1: Second GenENRATION 1KG Motor Module Concept development • Over 20 concepts were generated including: electro- • magnetic spherical, omni, and traditional drive systems • Traditional drive system was chosen because it was • low risk, met customer needs, simple design and is • fully compatible with P09204 electrical components TESTING METHOD • Testing was performed to prove that the chosen concept would meet customer specifications. The tests performed to verify these specifications were: velocity, acceleration, encoder feedback, DC motor torque, servo motor torque, and friction testing. Design development Results The team chose to focus on designing with the motor as the central core. The structure was split into two parts that will house the servo motor and the DC Motor. This eliminated wasted space and ensures that only the essential components are enclosed in the two structures. The velocity test showed that the DC motor selected does not meet manufacturer specifications and therefore will not meet customer requirements. At full load the entire platform will only be able to go 0.48 m/s compared to the minimum specification of 0.5 m/s. Servo Recommendations • Change gear ratio or select different motor • Optimize upper housing geometry • Look into plastic injection molding • Attempt to find smaller steering motor solution • Higher tolerance wheels Upper Housing Lower Housing DC Motor Encoder Acknowledgements Special Thanks to: Daniel Missel Larry Brugger Special Thanks to: Dr. Kempski Dr. Edward Hensel Professor Wellen Dr. Wayne Walter John Bonzo