Robot Design

Some introductory text.

What you will learn

  • A list of 2 to 5 learning goals

Terminology

  • A list of new terms

Lecture

A video of slides, coding, hands-on electronics, etc.

Consider the following scenario:

You must design a robot to race on a track with direction signs.

TODO: add image here? camera view and top-down TODO: start with track? (easier for wall following) (maybe not needed if doing point A to B task instead of race track)

give task /environment and ask them to design on first day diagnose others teams’ issues peer-review before batteries connected

Side request: new non-AI generated logo for the course

TODO: CAD design of wheel in Onshape (for 3d printing and laser cutting) Education Plan | Onshape Product Development Platform

Interactive

An interactive widget (see Kinematics and 3D Demo for a work-in-progress examples).

Exercise

assignment: pick a new sensor and design system around it

add something to robot -> what changes need be made? (power, comm., etc.)

  • pololu, digikey, adafruit, dfrobot, robotshop, sparkfun unmanned vs uninhabited

Wrap-Up

Some comments about the take-home message.

https://makeabilitylab.github.io/physcomp/electronics/

What additional information would you need?

  • functional requirements
    • speed
    • how rugged
    • terrain (type of movement)
  • design constraints
    • size
    • safety
  • robot characteristics
    • mechanisms
    • electronics
    • programming
    • fabrication
  • design considerations
    • environment
    • power
    • materials
    • senses
    • style

SBC vs microcontroller

Systems Engineering Your Robotics Project | PickNik

strength agility stability

Keep a log on the condition of parts

Robots are a collection of subsystems that enable an application Robot subsystems (not limited to) - Mechatronics: sensors, batteries, computer - Motion: motors, transimission, drives systems - Structures: chassis, wheels, etc. - Control: algorithms, software

oled - battery info - wifi info - general status

deadman’s switch

battery - capacity (how much energy it holds) - c-rating (how fast can it discharge—supply power—or charge) - cell count

transmission - belt, chain, direct

Part Design Basics - YouTube

  1. Define goals
  2. Brainstorm designs
  3. Sketch your layout
  4. Prototype with simple materials
  5. Model with CAD and fabricate
  6. Refine

tools - soldering iron - helping hands - wire cutters - wire strippers - flush cutters - power supply - driver and bits - hot glue - cardboard

PCB design

How to prioritize the requirements?

What components do you need?

  • general concerns
    • cost
    • size
  • motors (DC)
    • power
    • voltage
    • current
  • wheel encoders sensors
    • logic level
    • communication
  • motor control
    • peak and steady current
    • voltage input
    • voltage output
    • logic level
  • power management
    • power levels
    • charging
  • microcontroller
    • processor speed
    • processor word size
    • voltage
    • memory
    • power consumption
    • communication with peripherals (I2C, DIO, A2D etc.)
    • communication with host (USB, WiFi, etc.)
  • battery
    • capacity
    • voltage
    • current
  • sensors
    • communication
    • logic level
    • power level
    • current
    • accuracy
    • speed
    • resolution
  • miscellaneous
    • switch
    • fuse
    • LEDs
    • buttons
    • screen
    • breadboard/protoboard

more general introduction https://builtin.com/robotics

How to check the battery voltage

breakout boards arduino

Example

Thursday Day 4 - Mars Helicopter Presentation - YouTube - 500Hz guidance - 30Hz vision-based navigation - cell-phone grade ARM processor - Cell-phone grade cameras - Linux OS - solar-powered battery charging - 1-2 minute flights - https://github.com/nasa/fprime