all logos in this presentation is courtesy of the florida institute of technology robotics and...
TRANSCRIPT
PANTHERBOT TOOL CHANGER
MAE 4193 – Mechanical Design 1Final Design Review
Jameson L. Tai William Rae Justin Nunn
In Partnership with
All logos in this presentation is courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech Office of Creative Services.
PANTHERBOT TOOL CHANGER
Justin NunnJameson L. Tai
In Partnership with
Research and Finance Sub-Team
Picture Courtesy of Overnight Payday Advance
Introduction
Introduction to Sub-team Task Design Objectives for Sub-team Task Design and Analysis for Sub-team
Task Budget Plan for Next Semester Sub-team Plan for Next Semester Ethical Behavior of Sub-team Discussion on Life-long Learning Conclusion
Introduction to Sub-team task
Purpose The purpose of the Research and
Finance Sub-team is to provide information for the Design and Analysis Sub-team and to provide the best financial solutions for developed designs.
Introduction to Sub-task
Goals To apply our knowledge gained in class and
properly apply them to this project To apply technical skills, communication skills,
and the engineering design process into the project
To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm
Keeping an accurate expense report and keeping the teams expenses below the allowed budget
Design and Analysis
Material selection charts Prices used determined by Cost analysis
charts Multiple types of materials researched
for each part▪ Typically common materials were researched
as these are easiest to find Weight factors vary for every part based
on what is needed
Design and Analysis
Rectangular Tube stock Overall Rating
Design Requirements Selection Factors(1*A+5*B+4*C+3*D+2*E)/
15Yield strength (kpsi) Surface Finish Cost/unit length (in)
Machinability (%) Availability
Abs Rel Abs Rel Abs Rel Abs Rel Abs RelAl 5052-H32 34 0.85 80 0.8 N/A N/A 40 0.8 0 0 0.483333333
Al 3003 24 0.6 60 0.6 N/A N/A 45 0.9 0 0 0.42
Al 6061 35 0.875 100 1 0.275 0.9527273 50 1 10 1 0.979060606Stainless Steel (304) 40 1 85 0.85 0.571 0.4588441 27 0.54 10 1 0.713691769
Steel (1018) 32 0.8 80 0.8 0.262 1 35 0.7 9 0.9 0.846666667
Yield Strength Values Courtesy of Shingley's Mechanical Engineering Design
Design and Analysis
Cost Analysis chart Used to determine best price Material
selection charts Minimum of three sources were used for
every material
Design and Analysis
Rectangular Tubing Pricing
Al 6061 Steel Stainless Steel
Vendor Base Price Price/length Base Price Price/length Base Price Price/length
McMaster-Carr(36") 18.65 0.518055556 41.81 1.161388889 31.28 0.86888889
Metals Depot(48") 13.2 0.275 12.56 0.261666667 63.36 1.32
OnlineMetals(36") 11.05 0.306944444 N/A N/A 20.58 0.57166667
Prices Courtesy of McMaster-Carr, Metals Depot, and Onlinemetals
Budget Plan
Prototyping will be done with low cost easily machined materials Materials such as plywood and
cardboard are examples of such materials
Test Stand will be built out of low cost materials that accurately portray school facilities To save money we are trying to work
with facilities to get parts such as a door handle
Budget Plan
Final design will be constructed from materials such as aluminum and steel
To save money we will be attempting to get donations for the material we require, as well as use left over material from previous years
Budget Plan
Our current budget was developed without consideration of possible donations
Design changes might drastically change what is required A small buffer was made in the budget
to compensate for this
Budget Plan
Category Allocated Budget
Metals $400.00
Bushings/Bearings/Shafting $100.00
Miscellaneous Hardware $ 50.00
Surface finishing $ 50.00
Prototyping $100.00
Test Stand Hardware $150.00
Total Budget $850.00
Sub-team Plan for next semester
In charge of Team Purchases Keep accurate Expense Report Make any additional Material
Selection charts needed
Sub-team Plan for next Semester
Cost Analysis
Expense Report
PDR
Final Design Report
Senior Design Showcase
1/10/2009 1/25/2009 2/9/2009 2/24/2009 3/11/2009 3/26/2009
Research and Finance Gantt Chart
Start DateCompletedRemaining
Sub-team Plan for next Semester
Justin NunnResearch and Finance
Sub-Team LeaderPurchasing
William Rae and Justin Nunn
Expense ReportJustin Nunn
Material Selection
William Rae
Ethical Behavior of Sub-team
This sub-team will be in charge of most of the money handling of the group They will need to be responsible with
how they spend the money
Discussion on Life-long Learning
Good Researching skills acquired Useful in the working environment
Budget Planning Practice for developing and keeping
track of a budget
Conclusion
This sub-team will make all purchases All sub-team members will be involved
with this Keep an accurate expense report
Justin Nunn will be in charge of this Create additional Material Selection
Charts as needed William Rae will be in charge of this
PANTHERBOT TOOL CHANGER
William RaeJameson L. Tai
In Partnership with
Design and Analysis Sub-Team
Introduction
Introduction to Sub-team Task Design Objectives for Sub-team Task Design and Analysis for Sub-team
Task Detailed Drawings for Sub-team Task Sub-team Plan for Next Semester Ethical Behavior of Sub-team Discussion on Life-long Learning Conclusion
Introduction to Sub-team Task
Purpose To take the initial ideas from the
team and improve upon them through iterative analysis and coordinated material selection to produce detailed engineering drawings for fabrication.
Introduction to Sub-team Task
Goals To apply our knowledge gained in class in
designing project components To produce the best possible components
using the analysis skills and tools at our disposal
To apply technical skills, communication skills, and the engineering design process into the project
Design Objectives for Sub-team Task
Design components as specified by the team’s brainstorming sessions
Use computer-aided design and computer-aided engineering tools to transition from ideas to finished designs through a process of iterative analysis
Work with Research and Finance Sub-team to perform material and part selection
Produce production drawings for Fabrication and Testing Sub-team
Design and Analysis for Sub-team Task
Design and Analysis for Sub-team Task
Design and Analysis for Sub-team Task
Detailed Drawings for Sub-team Task
Detailed Drawings for Sub-team Task
Detailed Drawings for Sub-team Task
Sub-team Plan for Next Semester
This sub-team will be functioning in a support role for the next semester.
If problems arise in the fabrication and testing phase of the Design and Analysis Sub-team will be ready to modify plans
Sub-team Plan for Next Semester
Design support
Mech Design 2 PDR
Final Design Review
Senior Design Showcase
1/12/2009 2/1/2009 2/21/2009 3/13/2009 4/2/2009 4/22/2009
Spring 2009 Design and Analysis Sub-Team Gantt Chart
Start Date
Completed
Remaining
Sub-team Plan for Next Semester
Design and Analysis Sub-Team William Rae
Fabrication and Testing Feedback:
Jameson L Tai
Design Modifications:William Rae and Jameson L. Tai
Analysis Modifications:
William Rae
Ethical Behaviorof Sub-team
This sub-team works to ensure all designs will function within the following regulations and guidelines: Safety as defined by Florida Institute of Technology Robotics operation guidelines as set by Dr.
Larochelle OSHA STD 01-12-002 - PUB 8-1.3, robotics
guidelines
By following these guidelines we are able to ensure the safety of the people, machine and building.
Discussion of LifeLong Learning
This team uses a combination of engineering skills and modern tools to identify the problem and step through the engineering process ending with the production of detailed drawings from which the Fabrication and Testing Sub-team can produce components.
Discussion of LifeLong Learning
The ability to combine core engineering skills like productive brainstorming and design visualization with modern computer engineering tools provides us with the ability to successfully find a place in a career that is constantly evolving and yet relies on age old essentials.
Conclusions
The sub-team successfully worked together to translate a problem into designs of producible tools to interface with existing machinery and accomplish specific tasks.
The team has remained on schedule throughout this project so far and is fully prepared to remain on task and on schedule for the remainder of the project.
PANTHERBOT TOOL CHANGER
Jameson L. Tai
In Partnership with
Fabrication and Testing Sub-Team
Introduction
Introduction to Sub-team Task Design Objectives for Sub-team Task Sub-team Plan for Next Semester Ethical Behavior of Sub-team Discussion on Life-long Learning Conclusion
Introduction to Sub-Team Task
Purpose To fabricate parts and assemblies according to
specifications provided by the Design and Analysis Sub-team
To adhere to design guidelines, goals, and financial plan set by the Research and Finance Sub-team
To properly test the fabricated tools and tool holders and subject them to a reasonable amount of tests to evaluate its repeatability, reliability, and functionality.
Introduction to Sub-Team Task
Goals To apply technical skills, communication skills, and
the engineering design process into the project
To fabricate parts according to specifications safely and accurately
To design and construct a testing apparatus to ensure safe operation of the PantherBot before deploying to live hallway tests
To operate safely during testing while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with
Design Objectives for Sub-team Task
Effectively fabricate parts to specifications set by Design and Analysis Sub-Team and materials researched and selected by the Research and Finances Sub-Team
Test tools and tool holders by constructing a test rig which will effectively simulate doors in Olin Engineering Complex, as well as buttons and door panels
Make sure the tools fabricated are tested enough such that repeatability can be reached.
Sub-team Plan for Next Semester
This sub-team will begin work once materials ordered by the Research and Finance Sub-Team arrives.
Fabrication of parts will begin in conjunction to begin coding on the PantherBot to accept the tools and teach it to operate the tools.
Sub-team Plan for Next Semester
Test rig construction will begin after all tools and tool holders are fabricated.
Testing phase will begin after the rig has been set up.
Detailed schedule noted in Gantt Chart.
Sub-team Plan for Next Semester
Receive material
Tool 1 Fabrication
Tool 2 Fabrication
Tool 3 Fabrication
Tool Holders Fabrication
Test Rig Construction
Coding
Testing Phase
Mech Design 2 PDR
Final Design Review
Senior Design Showcase
1/12/2009 1/22/2009 2/1/2009 2/11/2009 2/21/2009 3/3/2009 3/13/2009 3/23/2009 4/2/2009
Fabrication and Testing Sub-Team Spring 2009 Gantt Chart
Start Date
Completed
Remaining
Sub-team Plan for Next Semester
Jameson L. TaiFabrication and Testing
Sub-Team Leader
Tool 1 Fabrication:
William Rae and Jameson
L. Tai
Tool 2 Fabricatio
n:
Justin Nunn
Tool 3 Fabrication:
Jameson L. Tai
Tool Holder Fabrication
:
Justin Nunn
Test Rig Construction:
William Rae and Jameson
L. Tai
Coding:
Jameson L. Tai, William Rae, Justin
Nunn
Testing:
Jameson L. Tai, William Rae, and
Justin Nunn
Sub-Team Organization for Next Semester
Ethical Behaviorof Sub-team
This sub-team works to ensure all designs will function within the following regulations and guidelines:
Rules and Regulations defined by Florida Institute of Technology Machine Shop
29 CFR 1910.252 – Occupational Safety and Health Standards will be followed in the Machine Shop when welding, cutting, and brazing
Standards based on U. S. Department of Labor – Occupational Safety & Health Administration
Ethical Behaviorof Sub-team
OSHA 3151-12R 2003 will be followed when necessary regarding personal protective equipment
Robotics operation rules as set by Dr. Pierre Larochelle, Director of the Florida Tech Robotics and Spatial Systems Laboratory
OSHA STD 01-12-002 - PUB 8-1.3 will be followed regarding guidelines for robotics safety
Standards based on U. S. Department of Labor – Occupational Safety & Health Administration
Ethical Behaviorof Sub-team
Adhering to these guidelines will make sure that the tools fabricated and the tool holder will not harm the PantherBot, its surroundings and hardware that it will be in contact with.
This is important to keep the project within design objectives and goals set by the team.
Discussion of LifeLong Learning
To stay current in fabrication: New developments in part fabrication▪ new CNC machines, ▪ CNC coding, ▪ drawing integration with machine shop machinery▪ Ways to produce intended parts faster with increased
precision
When working in this area, a sharp knowledge of how to machine a part, its design intent, and effectively and efficiently doing so is required have a successful career.
Discussion of LifeLong Learning To stay current in testing,
Stay current in related technology and interdisciplinary fields▪ Materials science and engineering ▪ Fracture mechanics▪ Computer-aided engineering (modeling, analysis, and simulation) of
possible testing rigs, experiments, processes▪ and other interdisciplinary fields
In testing, some mechanical engineering students become test engineers in the field.
Test engineers research and develop ways, techniques, processes, procedures, and experiments to test a part, an assembly, a set of processes, or a finish product.
Conclusions
Pending the arrival of materials, the Fabrication and Testing Sub-team will begin fabricating the tools and tool holders
Fabrication is projected to end by mid-February 2009
Construction of the test rig and software integration with the PantherBot is projected to be complete by late-February 2009
Conclusions
Full testing phase is projected to be completed by mid-March 2009
Senior Design Showcase set to be on April 3, 2009
The sub-team is on-time and will split up sub-team tasks as shown in its sub-team organization section
Questions?