A fully functional, open source, open architecture, scalable motor module subsystem for use on the 1 kg (RP1) robotic vehicular platform. Each motor module will have the ability to drive, steer, communicate with a controller, and work cooperatively with a number of motor modules in a number of configurations to drive a robotic vehicular platform capable of carrying a 1kg payload.
Key Business Goals
To provide an open source, open architecture design
To provide an off-the-shelf motor module for the mobility of a 1 kg robot platform
To provide a motor module that is scalable according to payload requirements
To publish the RP1design to be used by anybody wishing to mobilize a 1kg payload. The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research
Primary Market
Dr. Edward Hensel
RP1 Platform team
Future SD teams
Secondary Market
FIRST Robotics
Faculty projects
Class-based projects
Stakeholders
Dr. Edward Hensel
Faculty members
1 kg platform team
Gleason Foundation
RIT
Brinkman Machine Shop
FIRST Robotics
3 Broad Options:
3 Broad Options:
Option 1: All teams will be given and identical PRP and will not collaborate
Option 2: All teams will be responsible for the design, fabrication and interface of a portion of the design
Option 3: All teams will work collaboratively and each build a Motor Module but will focus on specific areas of the design
Specifications for all teams:
Specifications for all teams:
A single RP1 Motor Module will be capable of propelling a robotic platform which carries a payload of up to 1kg in weight:
Design is capable of variable speed from 0 to 35 inches per second
Design is capable of an acceleration of 70 in/s2 when propelling a platform carrying a 1kg weight
Design will be tested on a flat 8’ X 8’ surface
Design should fit within an 8” height X 4” length X 4” width size envelope
Motor Module design should weigh no more than 3 lbs each
Each team will deliver 3 Drive (powered) and 4 Idler (non-powered) motor modules
Design should be open source: all documents and designs will be public domain and all file types can be accessed by the public (eg. .IGES files that can be used by multiple CAD packages instead of types that can only be used by a single package)
Design should be open architecture: all commercial off the shelf (COTS) components are able to be purchased from multiple vendors and all manufactured components are able to be fabricated using common technologies and tools
Design should have an infinite steering angle around a vertical axis
Should be able to access any component on the module with no more than 3 minutes of disassembly
Design should be powered by a DC power source
Design should be powered by a DC power source
Design will utilize components outlined in the initial kit:
Drive Motor (steering motor from RP10 MM): Shayang Ye Industrial Co. IG320071-41F01, 24VDC 67RPM 71:1 http://www.superdroidrobots.com/shop/item.asp?itemid=717&catid=7
Steering Motor: Hsiang Neng 175 RPM 7.2V 50:1 Gearmotor http://www.lynxmotion.com/Product.aspx?productID=96&CategoryID=11
Steering Motor Encoder: Quadrature Motor Encoder http://www.lynxmotion.com/Product.aspx?productID=448&CategoryID=11
Designs will use encoders for information feedback of Drive and Steering Motor parameters
All team designs will use the same interfaces for attaching the Communications and Drive Electronics to the RP1 Motor Module
Physical attachment (eg. Bolt pattern)
Quick Disconnect electrical power and data connections
Design should be modular; can interchange modules on single type of platform and operate in a similar manner; All team designs will use the same interfaces for attaching the RP1 Motor Module to the RP1 Platform:
Physical attachment (eg. Bolt pattern)
Quick Disconnect electrical power and data connections
Design will drive the Drive and Steering motors with a PWM signal
Design will drive the Drive and Steering motors with a PWM signal
Design will physically resemble past projects (RP10 and RP100)
Design will have a professional look and feel
Design is able to fall from a 4’ tall tabletop and sustain none to minimal damage
Design will apply the principles and practices in Design for Manufacturability and Assembly (DFMA)
Utilize common components with other teams wherever possible to reduce costs and complications
Design’s manufacture and assembly time will be kept at a minimum
All component should adhere to the overall RP Project family:
Constraint Objectives
Regulatory Constraints
Academic Constraints
Safety Constraints
Resource Objectives
People Resource
Equipment Resources
Materials Costs
Labor Costs
Scope Objectives
Technology Objectives
Specific to Project P08202
Specific to Project P08202
Design will adhere to the general specifications for all teams
Design will use the same COTS Motor Controller(s) as teams P08205, P08206 and P08208
Design will use (if possible) the same Micro Controller Unit as P08206, P08205 and P08208 with an alternate communications protocol as P08206 (eg. If P08206 uses a CAN protocol, P08202 will use SPI protocol or I2C)
Specific to Project P08205
Design will adhere to the general specifications for all teams
Design will use the same COTS Motor Controller(s) as teams P08202, P08206 and P08208
Design will use (if possible) the same Micro Controller Unit as P08202, P08206, P08207 and P08208 but will communicate with a with a wireless device
The Wireless Micro Controller Unit used will be responsible for:
Minimum:
Receiving a wireless PWM signal and sending it to the PWM Motor Controller
Transmitting feedback information from encoders back through the wireless connection for processing
Preferred:
Receiving a wireless PWM signal and sending it to the PWM Motor Controller
Receiving feedback information from encoders and processing this signal
Specific to Project P08206
Specific to Project P08206
Design will adhere to the general specifications for all teams
Design will use the same COTS Motor Controller(s) as teams P08202, P08205 and P08208
Design will use (if possible) the same Micro Controller Unit as P08202, P08205, P08207 and P08208 with an alternate communications protocol as P08202 (eg. If P08202 uses a CAN protocol, P08206 will use SPI protocol or I2C)
Specific to Project P08207
Design will adhere to the general specifications for all teams
Design will use a custom PWM motor controller(s) developed by the team
The custom PWM Motor Controller(s) will:
Control the Drive and Steering Motors
Operate in the same manner as the COTS PWM motor controllers chosen by teams P08202, P08205, P08206 and P08208
Use the same input and output connections as the COTS PWM Motor Controllers chosen by teams P08202, P08205, P08206 and P08208
Design will use (if possible) the same Micro Controller Unit as P08202, P08205, P08206 and P08208 with communications protocol of the teams choosing
Specific Project P08208
Design will adhere to the general specifications for all teams
Design will use the same COTS Motor Controller(s) as team P08202, P08205, and P08206
Design will use (if possible) the same Micro Controller Unit as P08202, P08205, P08206 and P08207 with communications protocol of the teams choosing
RP100 Motor Module
RP100 Motor Module
Product Teardown
Make use of quick disconnect wiring connectors
All wiring between platform and module and all module subsystems
Avoid the need for unscrewing wiring, which will add to ease of assembly
Wing nuts are good for quick assembly/disconnect
To remove EMF cage must disconnect every electrical component before the cage can be removed.
There are several areas on the module that can not be reached without an extreme amount of disassembly
No fall resistance
Too much slop in the turntable assembly
Meshing of gears (mainly the internal ring\spur)
Accessing internal gears
No warning labels
Imperfect welds
Appeal
Appeal
Looks impressive with lightweight and transparent lexan sides
Shiny steel and aluminum
Exposed circuitry
Exposed drive system
Exposed "guts" lets users know how it works and is easy to diagnose problems
Use of bushings instead of bearings gives it a cheap and inaccurate feeling
Looks clunky
Could be a much more compact design
Size of turntable obviously determined overall design
Operating Characteristics
Large and awkward to handle
Drive wheel is easy to spin but lots of slop in drive system
I cannot readily tell how to use the product: Where do I plug it in? What orientation do I mount it in?
Product Teardown
1) Functions
Must drive wheel
Must turn wheel
Must be able to be addressed and controlled by platform
Must physically attach to platform
Must be electrically plugged into platform
2) Technology - Product employs:
Bevel Gears
Synchronous belt drive
Incremental encoders for drive and steering motors (US Digital P/N E5S-400-250-IH)
1 24VDC Drive Motor w/integrated gearbox (Shayang Ye Industrial Co. P/N IG420017-C520)
1 24VDC Steering Motor w/integrated gearbox (Shayang Ye Industrial Co. P/N IG320071-41F01)
Various electrical and control circuitry
Large turntable
Colson Hi-Tech Performa 5 x 1.5 Drive and Steering wheel
Sales Contact: Tom Weibel, District Manager, THK America Inc. Phone: 585-396-2145; Canandaigua, NY
Compared to past components:
+ Vastly more precise
+ Possibility for integrated internal gear
- Much more expensive
All-in-one Motor Controller and Micro Controller Unit
+ Less space than separate units
+ Simpler programming
- More expensive?
RIT and INSA
RIT and INSA
Opportunity for INSA to create the first collaboration overseas,
Strengthen the relationship between RIT and INSA
First collaboration to create the common project
Opportunity to exchange experience-knowledge and challenge the idea
Have some new ideas about one topic, one project
Help students to develop a new method of working
Have and understand another way to resolve different problems
To be familiar with European method.
Help students who want to go to USA the next year to understand DPM and can continue the project in US
Working on the same project with RIT can help INSA students to practice their English,
Communicate with Professor in France
The first letter has been sent, we are waiting for his
Finish the initial document and presentation and send to INSA,
response after the French vacation,
Set up a conference between Dr. Hensel and Professors in France,
If the Professors accepts the idea, translate and put the package in French format
Take part in the team as observers
Understand the design
Translate the documentation into French for the next team in France.
During the first week of SD1, Wendy Fung, Jason Kenyon, and Jasen Lomnick will give an overview of past designs and a quick run through on what a robot is.
During the first week of SD1, Wendy Fung, Jason Kenyon, and Jasen Lomnick will give an overview of past designs and a quick run through on what a robot is.
Current and past work will be easily referenced from each project’s web sites.
Week One
Week One
Everyone
Understand assigned roles and responsibilities
Understand overall project details
Access EDGE website and add all RP1 projects
Meet with members from other teams on their respective subsystem (weekly)
Understand their respective subsystem
Research respective subsystem
Team Leader
Assign roles and responsibilities to each member
Get card access for all team members to necessary rooms
Bring team up to speed on project details
Meet with other team leaders (weekly)
Meet with each subsystem leader (weekly)
Week Two
Week Two
Everyone (to be repeated every week)
Meet with respective subsystem members
Ask questions on any unclear points (weekly)
Bring any concerns about any aspect of the project (weekly)
Update team with news on their respective subsystem (weekly)
Propose concept level designs
Determine components and materials needed to be ordered
Research respective subsystems
Team Leader
Address any concerns or questions (weekly)
Update on progress of other teams (weekly)
Week Three
Week Three
Everyone
Finalize parts to order for the prototype
Order parts
Build text fixture
Begin building rudimentary platform
Team Leader
Review interface requirements with team
Grading of students in this project will be fully consistent with grading policies established for the SD1 and SD2 courses. The following level describes an absolute level of expectation for the design itself, for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.
Grading of students in this project will be fully consistent with grading policies established for the SD1 and SD2 courses. The following level describes an absolute level of expectation for the design itself, for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.
P08208 – Focus: Mechanical Design:
Level D: The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will be fully characterized. The motor module prototypes will meet customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers. A function generator is used to send out PWM signals.
Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The PWM signal is controlled by a motor controller. The motor module can communicate with a platform.
Level B: The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will exceed the past motor modules in every aspect asked for by the customer. The team’s motor modules can be interchangeable with at least one other team’s motor module.
Level A: The student team will deliver all elements of Level D, C, and B PLUS: The team’s motor modules can be interchangeable with any other team’s motor modules.
P08207 – Focus: RIT Motor Controller:
P08207 – Focus: RIT Motor Controller:
Level D: The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will be fully characterized. The motor module prototypes will meet customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers. A function generator is used to send out PWM signals.
Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The motor is controlled by a RIT motor controller.
Level B: The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will exceed the past motor modules in every aspect asked for by the customer. The team’s motor modules can be interchangeable with at least one other team’s motor module.
Level A: The student team will deliver all elements of Level D, C, and B PLUS: The team’s motor modules can be interchangeable with any other team’s motor modules.
P08205- Focus: Wireless Communication:
P08205- Focus: Wireless Communication:
Level D: The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will be fully characterized. The motor module prototypes will meet customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers. A function generator is used to send out PWM signals.
Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The PWM signal is controlled by a wireless signal.
Level B: The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will exceed the past motor modules in every aspect asked for by the customer. The team’s motor modules can be interchangeable with at least one other team’s motor module.
Level A: The student team will deliver all elements of Level D, C, and B PLUS: The team’s motor modules can be interchangeable with any other team’s motor modules.
Level D: The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will be fully characterized. The motor module prototypes will meet customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers. A function generator is used to send out PWM signals.
Level C: The student team will deliver all elements of Level D PLUS: The motor module prototypes will show quantitative improvements over the past motor modules for the customer's application. There will also be marked improvement over the past motor modules in the areas of control and user interface. The PWM signal is controlled by a CAN protocol.
Level B: The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will exceed the past motor modules in every aspect asked for by the customer. The team’s motor modules can be interchangeable with at least one other team’s motor module.
Level A: The student team will deliver all elements of Level D, C, and B PLUS: The team’s motor modules can be interchangeable with any other team’s motor modules.
Each team member and every team must participate in collaboration to accomplish the goals of the RP1 Motor Module Project
Each team member and every team must participate in collaboration to accomplish the goals of the RP1 Motor Module Project
All students are expected to follow meeting guidelines including bringing all necessary documentation, pre-agenda and personal work expected to be done by meeting date.
Punctual - Each team member will be prompt and arrive at the team meetings on time. If an unexpected conflict comes up, the absent team member will notify at least one team-mate prior to the expected absence. An absent team-member should confirm that a team-mate has received their message (in person, voice mail, email, etc).
Thorough - Each team member will complete their tasks thoroughly and completely, so that the work does not have to be re-done by a peer on the team. If a member does not know how to complete a task, feels overwhelmed, or needs assistance then the member notifies peers, and seeks assistance either from a peer, the faculty guide, a faculty consultant, or another person.
Accurate - Each team member completes their work accurately and in a way that can be easily checked for accuracy by peers and the faculty guide. All work is fully documented and easy to follow.
Professional and Ethical - Each team member gives credit where credit is due. All work completed includes citations to appropriate literature, or sources of assistance. If a team member has gotten assistance from a publication or individual, then that assistance or guidance is fully documented in the reports prepared. Each team member is honest and trustworthy in their dealings with their peers.
Demonstrates the core RIT values of SPIRIT.
Committed - Each team member will contribute an equal share to the success of the project.
Team success depends on the success of each other
As a team we expect to get the most productivity with the least resistance
Lack of contribution will not be tolerated
Escalation to higher authority will be considered on a case by case basis
Design to requirements not to the budget
Document any changes in Schedule
Anticipate questions, before presenting information and answer during presentation
Have details behind decisions available during discussions/presentations
Technical integration
Measure twice Cut once
Each value is broken down to four levels of performance: Unsatisfactory, Needs Improvements, Meets Expectations, or Exceeds Expectations
Everything associated with this project is public domain.
Everything associated with this project is public domain.
The final result of the RP1 Motor Module design will be published for any party to access.
The intent of publication is for any party to use the design to build their own Motor Module for their own use.
Taking on too much design responsibility – “biting off more than you can chew”
Taking on too much design responsibility – “biting off more than you can chew”
Budget Constraints – staying within budget, underestimating cost
Efficient use of resources (coordination) – machine shops, people’s schedules
Packaging envelope – teams must design within constraints
Scaled down version of previous designs – desired design should look like a miniature version of previous designs
Customer expectations – miscommunication of/not meeting important needs
Time schedule (milestones to accomplish) – not meeting deadlines
High learning curve – too much to learn to accomplish goals
Identify and acquire key design components early – dependent components come after
Good design on paper but not in reality – CAD and other design work should be realistic
Testing capabilities – have time and testing equipment
Not guaranteed that teams will collaborate – tension and design conflicts
Too much team collaboration will discourage uniqueness of design
Scheduling conflicts and difficult team meeting coordination
With some team structure options, the interface between segments will be difficult to manage
Finding interested students for the teams
Finding interested students for the teams
Establish relative importance of specifications through follow-up surveys
Speak with Dr. Crassidis and Dr. Yang about their project needs
