Robotics Intensive

From Artisan's Asylum

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(Robotic Vacuum Cleaner)
(Robotic Vacuum Cleaner: Conceptual design)
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1. Create a representative mission profile for your robot.
1. Create a representative mission profile for your robot.
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Robot is plugged in overnight. Staff member unplugs and turns on in the morning.
 +
 +
Robot navigates at ~1 mph pace, covering every linear foot of the space 2x, following line laid down for vending machine.
 +
 +
Robot navigates ~10 minutes before encountering an obstacle it cannot pass without losing track of the line and begins beeping.
 +
 +
Staff member
 +
 +
Approx e
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Total mission time is 50 minutes and robot returns to docking location.
 +
 +
A staff member notices after 30 minutes and plugs it in.
 +
 +
Robot is used 3 hours later to clean woodshop manually (see nice-to-have section).
 +
2. Estimate your robot's maximum size and weight.
2. Estimate your robot's maximum size and weight.
 +
 +
250 lbs (steel frame + DC motors + 65 lb battery + ...)
 +
 +
Approx 36 inch width, roughly circular shape.
 +
3. Decide on 2-3 nice-to-have features you want to include in your design.
3. Decide on 2-3 nice-to-have features you want to include in your design.
 +
 +
Can be used in "manual mode" to clean other spaces.
 +
 +
Looks "friendly". See [http://www.youtube.com/watch?v=YGoIVJMpdUU] for inspiration
 +
 +
Can be used as a "cleaning pod" to clean individual spaces.
 +
 +
Can be called remotely and delivers itself to requester's space.
 +
Quick notes:
Quick notes:
This industrial sweeper is about the right size and, by relying on brooms augmented by a small vacuum, makes do with only 290W of motor (counting the main traction motor, the side brush motor, and the 50W--0.07 hp--vacuum motor. It can propel itself and is claimed to run for 3 hours on a single, 12V 100Ah gel battery: brochure with some specs: [http://www.waxie.com/WAXIE_ADV_Terra-28B.pdf] promotional video: [http://www.sweeperland.com/terra_28B.html] --Richard
This industrial sweeper is about the right size and, by relying on brooms augmented by a small vacuum, makes do with only 290W of motor (counting the main traction motor, the side brush motor, and the 50W--0.07 hp--vacuum motor. It can propel itself and is claimed to run for 3 hours on a single, 12V 100Ah gel battery: brochure with some specs: [http://www.waxie.com/WAXIE_ADV_Terra-28B.pdf] promotional video: [http://www.sweeperland.com/terra_28B.html] --Richard
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Jade found [http://www.acmetools.com/tools/POWERBOSS+HM27R+Collector+26+Walk-Behind+Manual+Sweeper] which might be an option to prevent building sweeper components from scratch.

Revision as of 20:36, 7 February 2012

This is the main discussion, coordination, and documentation page for the Robotics Intensive class at Artisan's Asylum.

NOTE: If you're unfamiliar with wiki editing and formatting, please check out this page: MediaWiki Formatting. You will need to be logged in to edit this page, and once you're logged in you'll see an 'edit' button as one of the top tab options.

Contents

Class Presentations

These are the powerpoint presentations from each class:

  • Introductory Presentation - An introduction to the instructor, to the Asylum, to types of robotic design, descriptions of the two projects, and course goals and plans
  • Session 2 - Introduction to the programming and controls project
  • Session 3 - Review of the programming and controls project, brief description and introduction to PID control
  • Session 4 - Breaking up into teams and top level conceptual design introduction

mbed/m3pi Robot Resources

We used an mbed processor controlling an m3pi line following robot platform for the programming and controls project at the start of class. You can find resources for it in this section.

  • You can purchase an m3pi robot here. We used an mbed NXP LPC1768 development board to control the m3pi platform, which you can find available for purchase here.
  • The mbed Handbook contains a lot of useful information about programming the platform.
  • The mbed Cookbook contains a lot of sample programs that use the mbed platform to accomplish specific goals
  • The m3pi homepage contains a lot of information about getting up and running on the m3pi platform, including a simple and easy to follow Hello World application.
  • The online compiler is where the programming work for the mbed is done. Email Gui for login and password information for the class account.

Robot Discussion Section

This section is for the group discussion and online documentation of information pertaining to our two main robot projects.

Robot Vending Machine

Information and discussion goes here!

Subsystem Discussion


Vending Machine Information

The manual for the vending machine can be found here

Robotic Vacuum Cleaner

1. Create a representative mission profile for your robot.

Robot is plugged in overnight. Staff member unplugs and turns on in the morning.

Robot navigates at ~1 mph pace, covering every linear foot of the space 2x, following line laid down for vending machine.

Robot navigates ~10 minutes before encountering an obstacle it cannot pass without losing track of the line and begins beeping.

Staff member

Approx e

Total mission time is 50 minutes and robot returns to docking location.

A staff member notices after 30 minutes and plugs it in.

Robot is used 3 hours later to clean woodshop manually (see nice-to-have section).


2. Estimate your robot's maximum size and weight.

250 lbs (steel frame + DC motors + 65 lb battery + ...)

Approx 36 inch width, roughly circular shape.


3. Decide on 2-3 nice-to-have features you want to include in your design.

Can be used in "manual mode" to clean other spaces.

Looks "friendly". See [1] for inspiration

Can be used as a "cleaning pod" to clean individual spaces.

Can be called remotely and delivers itself to requester's space.


Quick notes:

This industrial sweeper is about the right size and, by relying on brooms augmented by a small vacuum, makes do with only 290W of motor (counting the main traction motor, the side brush motor, and the 50W--0.07 hp--vacuum motor. It can propel itself and is claimed to run for 3 hours on a single, 12V 100Ah gel battery: brochure with some specs: [2] promotional video: [3] --Richard

Jade found [4] which might be an option to prevent building sweeper components from scratch.

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