Team Members Michael Mahlum Jake Conn Craig Craviotto
Team Members: Michael Mahlum Jake Conn Craig Craviotto Shane Duff Caitlin Flynn Hans Leidenfrost
Outline • Background • First Semester Work • Mechanical ØOverall ØBase ØShoulder ØElbow ØWrist ØPoker • Electrical Ø Control System Outline Ø Microcontroller Ø Motor Controllers Ø Control Interface
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
K-10 Rover
First Semester Work • L 07 redesign Ø Stiffen arms Ø Add gearing to remove slop from system • Research/ Initial development
M 08 Robot
Base • Direct Drive Motor Housing • Provide polar motion to robotic arm • Friction free motor
Shoulder • Motor and gearbox are paired • High torque, light weight • Controls vertical arm movement
Elbow • Small motor high torque, low speed • 60: 1 gearbox for increased torque • Increase the precision of linear positioning
Wrist • Small motor high torque, low speed • 120: 1 gearbox for increased torque • End effecter positioning
Shovel • • Scooping Pushing Lifting Impact Force
Percussive Poker Development
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
Electrical
Control System Outline • User interface ØPlaystation controller • Microcontroller ØRabbit 4110 microprocessor • Types of motor controllers ØBLH 450, shoulder motor ØB 15 A 8 N, base motor ØBH-25, elbow, wrist, poker motors
Microcontroller • Rabbit 4110 ØReplaces Two Basic Stamp’s, Mini-ITX
Motor Controllers • BLH 50 K (Oriental Motor Co. ) ØShoulder motor • B 15 A 8 N (Advanced Motion Control) ØBase motor • HB-25 (Parallax) ØElbow, Wrist, Poker motors
Control Interface • Human user interface ØPlaystation controller • Serial port interface ØCan be externally controlled via serial port
Thank You • NASA Ames • NASA Idaho Space Grant Consortium • Mentors: ØAaron Goodin ØJohn Lacy • Russ Porter • UI Faculty: Steve Beyerlein, Jean Teasdale, Dave Atkinson, Becky Highfil, and others.
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