PantherBot Tool Changer

MAE 4193 – Mechanical Design 1Project Review Presentation

Jameson L. Tai William Rae Justin Nunn

In Partnership with All logos in this presentation is courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech University Publications.

Introduction

Organizational Breakdown Project Background Design Objectives Tentative Designs Project Timeline Recommendations

Organizational BreakdownJameson L. Tai

(Team Leader)

Research

Justin Nunn

DesignWilliam

Rae

AnalysisWilliam

Rae

Fabrication

Jameson L. Tai

TestingJameson L. Tai

FinancesJustin Nunn

Project Background

The PantherBot, also known as the PowerBot made by MobileRobotics, Inc., is a multifunctional robot autonomously mapping

terrain equipped with sonar and laser

range finder robotic arm fitted with a

parallel gripper and webcam has a 802.11b WiFi antenna

for wireless communications(Image Source: RASSL

Project Background

(Image Source: RASSL)

Project Background

This team will create an autonomous tool changer such that the PantherBot will be able to perform the following functions inside the Olin Engineering Complex: Open doors via twisting door handles Open front door via pressing the handicap

accessible button Press appropriate buttons to recall and

operate an elevator

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Design Objectives To research on appropriate tools to

perform the following functions in the Olin Engineering Complex without harming the PantherBot: Open doors via twisting door handles Open front door via pressing the

handicap accessible button Press appropriate buttons to recall and

operate an elevator

Design Objectives The tool changer and tools must not block the

normal operations of the robot nor create safety hazards from usage of the tool changer. This means this tool changer must not block or damage

the following:▪ sonar sensors, ▪ laser range finder sensor, ▪ cameras, ▪ emergency stop buttons,▪ any vents or access panels.

The tool changer also must not add any additional width to the robot since it is already approaching the width of a standard doorway.

Research Topics to be researched:

Current door opening robots Tool changing devices Materials

Research is focused on examining other machines that can open doors and on various different devices that are used for changing out tool ends

Once sufficient research has been done in these areas, research on materials that need to be used will be conducted as designs for our tools are made

Design and Analysis To meet the goals of interacting with doors

and buttons, as well as storing and exchanging the tools, we will need to optimize our design for reliability, size and weight. To do this we will use FEA with physical prototypes. Weight restrictions are due to the forces the tool

will put on the arm. FEA testing will primarily be used to find

areas where material needs to be added or can be removed to lighten the tools.

Design and Analysis Arm Forces▪ To prevent damage to the arm we need to

calculate the forces exerted on the arm in all configurations.▪ The arm is capable of withstanding higher

loading if the joints are locked.▪ Swinging the arm with a heavy tool on the

end puts the motors at risk if motion is not started and stopped smoothly. ▪ Tool paths must be optimized to minimize

forces on the arm

Fabrication Plan We will fabricate most parts through

Building 538 (Machine Shop) If needed, we have set aside a

budget for any necessary rapid prototyping before we proceed.

We will obtain reasonable off-the-counter parts if it is more cost effective to purchase the part than to produce in-house.

Testing Plan We have set aside a budget for a testing rig,

which will provide a viable test platform Opening doors Pushing door panel button Pushing elevator buttons

The testing platform will provide feedback to the team regarding the repeatability of the tools, ease of operation, and storage functions.

Also, it will help determine if there are any problems with the tools before the PantherBot performs the predefined functions inside Olin Engineering Complex.

Tentative Designs Button Pusher

Shall protect PantherBot’s body as well as its robotic arm

Shall protect elevator buttons and panels while tool is used

All motion will be generated by the parallel grippers

Tentative Designs

Tentative Designs Door Opener

Shall open doors from both sides Shall accommodate door handles in the

left and right orientations Shall allow the PantherBot to pass

through safely before door returns to closed position

Tentative Designs Tool Rack

The tool rack will be designed to accommodate the tools that are produced

Rough ideas:▪ Tentative positions of tools▪ Door opener will be contained in the front left (near

the vent) of the PantherBot▪ Button pusher will be contained in the front right

section since it is a larger tool.▪ Mounting▪ Tools will be mounted to existing structural rails.

Project Timeline

Fall 2008 Complete research in door opening techniques

Pushing door (September 2008) Pulling door (September 2008)

Present tool design (October 2008) Present tool changer rack design (October 2008) Preliminary Design Review

Presentation (22 October 2008) Report (22 October 2008)

Analysis on tools and tool changer (November 2008) Final Presentation (03 December 2008) Final Report (03 December 2008)

Project Timeline

Spring 2009 Fabrication (February 2009) Testing (March 2009) Showcase (April 2009)

Preliminary Budget Test Stand Hardware $ 150 Shop Materials $ 400 Adapters to existing PantherBot arm $

250 Bushings/Bearings/Shafting $ 100 Surface finishing $

50 Rapid Prototyping $ 250 Miscellaneous Hardware $ 50 Total Budget

$1,250

Conclusion

We have a preliminary design of our button pusher.

We have conducted research on door opening mechanisms that would integrate with existing hardware.

We are working on several designs of our tool storage system. These designs will be revised as the tools are finalized.

Questions?