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
- Define goals
- Brainstorm designs
- Sketch your layout
- Prototype with simple materials
- Model with CAD and fabricate
- 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