final capstone design presentation mae 4194 – mechanical design 2

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Final Capstone Design Presentation MAE 4194 – Mechanical Design 2 Lok Wah Jameson Tai William M. Rae Justin L. Nunn Faculty Advisor: Pierre M. Larochelle, Ph. D., P. E. In Partnership with: Tool Changer PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

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Tool Changer. Final Capstone Design Presentation MAE 4194 – Mechanical Design 2 Lok Wah Jameson Tai  William M. Rae  Justin L. Nunn Faculty Advisor: Pierre M. Larochelle, Ph. D., P. E. In Partnership with:. PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot. Purpose. - PowerPoint PPT Presentation

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Page 1: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

Final Capstone Design PresentationMAE 4194 – Mechanical Design 2

Lok Wah Jameson Tai William M. Rae Justin L. NunnFaculty Advisor: Pierre M. Larochelle, Ph. D., P. E.

In Partnership with:

Tool Changer

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Page 2: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

To retrofit the PantherBot in order to give it the capability to open doors and press wall panel buttons, so that it can roam autonomously inside the F. W. Olin Engineering Complex.

Purpose

Safety of people, building and robot Functional tools for tasks Autonomous tool changes

Positive control of tools Secure tool storage

Store tools away from sensors and access areas

Design Objectives

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Page 3: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

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 operate safely while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with

To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm

Goals

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Page 4: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

PowerBot mobile robot, manufactured by MobileRobots, Inc.TM 6-DOF robotic arm, manufactured by Schunk Intec. autonomously map terrain, plot coordinates, MobileEyesTM and Mapper3TM software on-board sonar sensors laser range finder. two cameras, one on the PantherBot's base, one adjacent to the parallel

gripper on the robotic arm Remote access via 802.11b

WiFi.

Background – About the PantherBot

Page 5: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Keeping in mind that the PantherBot should be able to operate and change tools autonomously, it is necessary to have safety features in place in case PantherBot or its robotic arm malfunctions or operates outside of its intended parameters.

Safety Considerations

Emergency Stop Buttons

Sonar SensorsReturns PantherBot

terrain data to plot and avoid obstacles

Laser Range FinderReturns range data to

accurately measure forward distance

Collision BumpersServes as emergency stops

if collision occurs

Page 6: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

F. W. Olin Engineering Complex was established via a grant from the F. W. Olin Foundation in 1997. The three-story building contains several classrooms, a 142-seat multimedia auditorium, and 26 specialized laboratories, including the Robotics and Spatial Systems Laboratory.

F. W. Olin Engineering Complex

Page 7: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

• Concept sketching• CAD modeling • Physical prototyping • Finite element analysis • CAD model to optimize• Production Drawings

The Prod’s Design Process

Page 8: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Analysis of our tools was performed using the Cosmos finite element analysis package by DS SolidWorks. Testing was done with a 1.5 factor of safety to ensure the tool would break before damaging the robot

The Prod’s Analysis Results

Deformation Stress Strain

Page 9: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

• Spring supported symmetric four-bar mechanisms• Parallel grippers to drive the contact point forward• Mimics the motion of a human finger reaching out

and pressing a button• Spring allows for easy retraction of the tool and even

deployment of the mechanism• Foam tip prevents any damage to the button

The Prod

Page 10: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Tool 1 & 2• Concept sketching• CAD modeling • Physical prototyping • Finite element analysis

Design Re-Evaluation • Physical prototyping • Finite element analysis• CAD model optimization• Production Drawings

The Enterprise’s Design Process

Page 11: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The Enterprise’s Analysis Results–T/Door Handles

Deformation

Stress Strain

Page 12: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The Enterprise’s Analysis Results – Wheel/Door

Deformation

Stress Strain

Page 13: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

• T-shape hook unlocks the door handle• PantherBot backs up to pull open door• Arm lets go of the door handle • Door rests against robot. • Arm will reposition so the wheel is pressed against

the door• Wheel holds door open while PantherBot passes

through.

The Enterprise – Pulling a door open

Page 14: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

• T-shape hook unlocks door handle• Arm pushes door open ~10⁰• Arm tilts so the wheel is pressed against the door• Arm repositions so door is open • PantherBot moves forward and wheel maintains

appropriate clearance

The Enterprise – Pushing a door open

Page 15: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Video Demo – Enterprise Unlocks Handle

Page 16: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The Tool Holders

Designed to secure tools in same location and orientation every time

Clear of sensors

Secure mounting

Accessible by arm

Aesthetically acceptable

Page 17: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The Prod is composed of the following: • 1-1/2" L x 1-1/2" W (0.125" lip)

Aluminum 6063-T52 U-Channel• 1/8" L x 1/2" W Aluminum 6061 Bar• Ø 3/16" O1 Tool Steel Shaft• Black Retaining Rings for Ø 3/16" Shaft• Flanged Sleeve Bearings for Ø 3/16"

Shaft 2-3/4" L x 5/8" OD, 0.054" Wire Zinc-Plated Steel Compression Spring

• 1/8"W Adhesive-Back Elastic Natural Gum Foam Strip

• 1 generic rubber-tipped foam Nerf dart

Fabrication Process – The Prod

Page 18: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The Enterprise is composed of the following:• 1-1/2" L x 1-1/2" W (0.125" lip) Aluminum

6063-T52 U-Channel• 1/4" L x 1/2" W Aluminum 6061 Bar• 5/16" Diameter O1 Tool Steel Shaft• Black Retaining Rings for Ø 5/16" Shaft• 1/8"W Adhesive-Back Elastic Natural Gum

Foam Strip• 70mm Diameter roller skate wheel

with two Ø 5/16“ ABEC 3 Bearings

Fabrication Process – The Enterprise

Page 19: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The tool holders for the Prod and the Enterprise are composed of 0.08" sheet metal.

Fabrication Process – Tool Holders

Page 20: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Testing – The Prod

Page 21: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Videos

Page 22: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Testing – The Enterprise

Page 23: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Videos

Page 24: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Initial Budget estimate of $800

Donations, redesigning the tools and additional research helped reduce the Budget

Final cost of $204

 

Budget and Finance Data

Vendor Number of items Purchased Cost

McMaster-Carr 17 172.44

Online Metals 2 18.67

Reimbursments 3 13.20

Total 22 204.31

Page 25: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The PantherBot team made sure all designs functioned within the following regulations and guidelines:

• Basic Machine Tool Operation Guide, Florida Tech Machine Shop• MSDS guidelines for the Robotics and Spatial Systems Laboratory• Florida Tech College of Engineering Lab Safety Guide and Chemical

Hygiene Plan• OSHA STD 01-12-002 - PUB 8-1.3, robotics guidelines• OSHA 1910.252 General requirement guidelines• OSHA Personal Protective Equipment

guidelines• Robotics operation guidelines as set by

Dr. Larochelle• Safety plan filed with the University

Safety Officer

Ethical Behavior

Page 26: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Responsible Financial decisions• Proper practices in purchasing of

materials using school funds

Personal responsibility• Team members performing their share of

the work• Team members following the Code of

Ethics of Engineers as described by the American Society of Mechanical Engineers

By following these guidelines we were able to ensure the safety of the people, machine and building

Ethical Behavior

Page 27: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Design Development Process

• Brainstorming• Idea enhancements• Design optimization

Engineering Skills Acquired for Future

• CAD modeling• Computer aided analysis• Machine shop skills

Discussion on Life-Long Learning

Page 28: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

We have completed the task of designing and implementing a tool changer for the PantherBot such that it may open doors, as well as press buttons and access panels in the F. W. Olin Engineering Complex. The Prod was created with an objective of pressing buttons by utilizing the PantherBot's parallel gripper on its robotic arm for input. The Enterprise was created with objective of opening doors by fully utilizing the PantherBot and its robotic arm. As a result, the team was able to successfully give the PantherBot the means of autonomously navigating into additional sections of the F. W. Olin Engineering Complex.

Conclusion

Page 29: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

The PantherBot Tool Changer team would like to thank the Florida Institute of Technology College of Engineering for funding the project, Dr. Youngsik Choi for instructing the Mechanical Design course, and Dr. Pierre Larochelle for approving and facilitating this design project at the Robotics and Spatial Systems Laboratory.

For more information, please visit us on our project website:

http://flsvr.com/pantherbot

Acknowledgements

Tool Changer

Page 30: Final Capstone Design Presentation MAE  4194 – Mechanical Design 2

PantherBot Tool Changer Learn More: http://flsvr.com/pantherbot

Videos