DEPARTMENT OF MECHANICAL AND AEROSPACE ENGINEERING
HIGH POWERED
ROCKETRY CLUB
2014-2015 PDR
PRESENTATION
1
PDR Overview
Vehicle
• Design
• Recovery
• Mission Performance
• Interfaces and Integration
AGSE
• Design
• Arm
• Rocket Erection
• Igniter Insertion
Budget
Safety
Subscale
Questions
2
Vehicle Design - Nosecone
Element
Dimension
Maximum Diameter 5.5 in
Exposed Length
8.5 in
Shoulder Length
5.5 in
Elliptical shaped
nosecone for subsonic
flight
3
Vehicle Design - Airframe
• 5.5” diameter blue tube 2.0
• Body tube separated into
four compartments sealed by
bulkheads
• Payload receptacle on
forward nosecone section
4
Rocket Layout
5
Rocket Layout
6
Airframe – Payload Zone
7
Airframe – Payload Zone
8
Vehicle Design – Payload Compartment
9
Vehicle Design - Avionics
• Two avionics compartments
• Primary and redundant Stratologger SL100
altimeters, 9V batteries, fiberglass sled GPS
• Upper avionics: drogue charge 3000’ ARRD 1000’
nosecone from upper airframe 1000’
• Payload mold
• Second sled middle and fin section 700’
10
Nose Cone Avionics
11
Fin Section Avionics
12
Vehicle Design – Fin Section
Element
Dimension
Length
22.5 in
Diameter
5.5
Element
Dimension
Width
0.25 in
Height
7 in
Distance from Bottom
1.5 in
5.34” bulkhead will be epoxied 4” from
the upper surface of the airframe
Centering rings
13
Vehicle Design - Stability
•
•
•
•
CG 47.4” nose ref.
CP 57.9” nose ref.
Static Margin 1.91
45 ft/s as the uppermost
rail button leaves the
launch rail
14
Vehicle Design - Motor
• Animal Motor Works (Cesaroni) K353-RR
– 15.9” length
– 2.13” diameter
– 324 lbf*s Impulse
– Weight burned in 2.7 seconds 1.68 lbs
– Stability margin increase from 1.913.02
15
Thrust Curve
16
Vehicle Recovery
Apogee
17
Vehicle Recovery
1000 ft
18
Vehicle Recovery: AARD
• AARD is black powder release
• Separates drogue shoot shock
cord from sample section
• Necessary for mission
requirements
19
Vehicle Recovery
700 ft
20
Wind Drift
21
Mission Performance – Flight Profile
• Open rocket
simulation
using Cesaroni
K353-RR
22
Mission Performance – Velocity
23
Mission Performance – Kinetic Energy
24
ASGE Design
25
AGSE Design
26
ASGE Design
27
AGSE Design
28
AGSE Progression
Start System
Grab the Sample
Insert Sample in Clamps
Raise the Rocket
Insert the Igniter
System Ready to Launch
29
Robotic Arm
• 4 Degrees of Freedom
• 5:1 Gear Ratio
• 252 degrees of rotation
at each joint
• Able to lift ~1 lb at 24”
• 6V draw and current up
to 10 A
30
Gripper
• Provides 2 additional
DOF
• 180 degrees rotation
around wrist
• Able to open 1.3”
• 6V draw
31
Model of Arm
• MATLAB used
to plot arm at
different
servo angles
32
Reachable Points
• MATLAB plot of all
points the arm is
able to reach in 3
dimensional space
33
AGSE Progression
• Progression of the system will be measured
by an array of sensors connected to the
BeagleBone Black.
• Sensors include switches, IR distance sensors,
and touch sensors that register true when a
task is completed.
• Stored sensor values can be used to update
the system in case of a reboot after power loss
34
Image Processing
• Images from USB Camera
• Processing on BeagleBone Black
35
Image Processing
• Sentech STC-MC36USBL2.3 Micro CMOS USB
2.0 Camera
• Mounted on gripper of
robotic arm.
• Chosen for
–
–
–
–
Weight: .9 oz
Connectivity: USB 2.0
Resolution: 640 x 480
Voltage: 5 V
36
Image Processing
• Camera connects to
BeagleBone Black
through powered
USB hub.
• USB input gives 5 V
to the camera.
37
Image Processing
• Image Processing System used for:
– Sample identification
– Measuring the distance from camera to the
sample at its initial position on the ground.
– Measuring intermittent distances as the robotic
arm moves closer to the sample.
– Determining orientation of the sample.
38
Image Processing: Distance Measurement
• Unprocessed image
• Separated foreground
from background
39
Image Processing: Distance Measurement
• Blobs formed of foreground pixels
• Adjacent blobs
grouped to form
less total blobs
40
Imaging Processing: Distance Measurement
• Blobs filtered to identify blob representing sample.
• Calibration curve takes size of the blob and outputs
distance from camera to the sample.
• Calibration curve determined experimentally.
• Code in C++ on BeagleBone
• Some applications are autocoded MATLAB
41
Robotic Arm and Imaging
Chain of Events
1.
2.
3.
4.
5.
6.
Pic for centering
Pic for distance
Move arm to half
Pic for distance
Move to 4 in. above
Pic for orientation
7. Pic for centering
8. Rotate wrist
9. Pic for confirmation
10. Move arm to sample
11. Grapple the cache
42
Raising the Rocket
•
Planetary Gearbox Stepper Motor
–
–
–
•
Sector Gear
–
•
Max Holding Torque: 29.5 ft-lb
Step Angle: 0.039 deg
~22,000 steps for 85 deg launch rail rotation
Gear Ratio: 10:1
Required holding torque:
–
12 ft-lb
43
Igniter Insertion
•
•
Linear Actuator System
NEMA 17 Stepper Motor
Design Concept:
• Stepper motor rotates threaded
rod.
• Threaded hexagonal plate moves
vertically due to side plates.
• Igniter on dowel moves upward
into rocket motor.
44
Electrical
Schematic
Overview
45
Battery Systems
• 37 V System
• 11.1 V System
46
37 V System
• Used to power two
stepper motors
– Raising Rocket
– Raising Igniter
•
37 V System
• Stepper motors require
high power to meet
torque requirements to
raise the rocket
47
11.1 V System
• 11.1 V System
• Step-Down voltage regulators to
convert to the desired voltage of
different electronics
• Systems on this battery
• BeagleBone Black
• Robotic arm
• Robotic arm controller
• Rocket Stepper Motor Driver
• Igniter Stepper Motor Driver
48
Subscale Demonstrator
•
•
•
•
•
Subscale is 70% of fullscale
Aerotech J350 Motor
Dual Deploy
18 in. Drogue
36 in. Parachute
49
Subscale Motor Thrust Curve
Aerotech J350
50
Community Outreach
• Tripoli Summer Low-Mid Power
Launches
• GE Aviation – Manufacturing Day
• YMCA Kite and Rocket Day
• Sigma Gamma Tau Boy Scout Merit
Badge Event
51
Thank You
QUESTIONS?
52