Slide
of 31
Introduction
•
•
•
•
•
•
About WMR
Aims and Objectives
New Robot Design
Testing
RoboCup Competition
Lessons & Future Work
Slide 2 of 31
• A group of student projects in mobile robotics
Slide 3 of 31
Project Manager
Systems Team
Photo in
Red Polo
Neck
Photo in
Red Polo
Neck
Photo in
Red Polo
Neck
Chris Chavasse
Electronics &
Software
James Yardley
Power System
Jannah Aljafri
Battery Monitoring
Mechanical Team
Photo in
Red Polo
Neck
Photo in
Red Polo
Neck
Photo in
Red Polo
Neck
Photo in
Red Polo
Neck
Lauren Rutter
Chassis
Trevor Whales
Drivetrain
Andrew Parkin
Arm
Vishal Dhanji
Head & Gripper
Slide 4 of 31
Slide 5 of 31
Slide 6 of 31
Max. Robot Height
Turning Radius
Wall Clearance
Hallway Width
Max. Robot Width
Max. Robot Length
Slide 7 of 31
Robot Dimensions
Slide 8 of 31
Chassis Design
Motor Mounting
Plates
MakerBeam
Polycarbonate Shell
Slide 9 of 31
Tracks
4 identical
‘flipper’ units
Motor & controller
housed inside
Slide 10 of 31
Calculations & FEA
• Calculations carried out for motor torque
• FEA carried out on load bearing components
τ
a
r
y
x
f
θ
(mg)y
(mg)x
Slide 11 of 31
Finished Drivetrain
• Drivetrain designed and manufactured
– Treads are not yet manufactured
Slide 12 of 31
4 DoF Arm used to position& orientate sensors and gripper
• Lightweight,
• Low cost
• Modular
J4, θ4
J3, θ3
J2, θ2
J1, θ1
Slide 13 of 31
Modular design
Slide 14 of 31
Force Analysis & FEA
𝑥4
𝑇𝐵
𝑥1
𝑥2
𝑥5
𝑥6
𝑥7
𝑥9
𝑥8
𝑛
𝑥3
𝑇𝐵 =
𝐹 𝑖 × 𝑥𝑖
1
𝑓1
𝑓2
𝑓3 𝑓4
𝑓5
𝑓6
𝑓7
𝑓8 𝑓9
b.) 𝐹𝑧 = −90𝑁
a.) 𝐹𝑥 = 1300𝑁
c.) 𝐹𝑦 = 290𝑁
Slide 15 of 31
Head Design
Adjustable
Camera Position
ABS Webcam
Enclosures
Lightweight
Head Plate
Slide 16 of 31
Manipulator Design
Pinion Gear
Spring-loaded
Clutch
HS85 Servomotor
Angled Gripper Fingers
with 10cm Grasp
Slide 17 of 31
Testing
Slide 18 of 31
Victim Box
Reach
1.4m
Slide 19 of 31
Power Distribution
Power Distribution
• Dual power boards to
allow for modularity of
the arm.
Slide 20 of 31
Power Board Design
Slide 21 of 31
Slide 22 of 31
Slide 23 of 31
Slide 24 of 31
3D Vision Headset
Slide 25 of 31
Head Tracking
Slide 26 of 31
• 4th Overall
• 2nd in Mobility
• 2nd highest points in a single round
– Most points scored by a single robot
Slide 27 of 31
•
•
•
•
Modularity allows adaptability
Good research platform
Low cost design <£5,000
Lightweight <25kg
– Areas for optimisation
• Manipulation
• Mapping
• 3D vision and head tracking
Slide 28 of 31
•
•
•
•
•
•
About WMR
Aims and Objectives
Robot Design
Testing
RoboCup Competition
Lessons & Future Work
Slide 29 of 31
Thank you for your attention
Slide 30 of 31