BACKGROUND

BACKGROUND – Problem Statement

This project bridges the gap between classroom and industry, requiring the use of

mechanical, electrical, and computer programming knowledge and skills to

complete an engineering design project equivalent to the assignments given to

professional engineers. For this design challenge, a robot is required to

autonomously navigate a ramp course, launch a golf ball as reliably as possible,

and return to the starting location within a specified time limit.

BACKGROUND – Design Requirements

High Level Design Requirements:

1. Cost

2. Size

3. Functionality

Low Level Design Requirements:

1. Launching Mechanism

2. Steering Design

3. Size/Shape

Image courtesy of UCLA MAE 162D Lecture 1A “Course Introduction”

DESIGN PROCESS

DESIGN PROCESS – Preliminary Designs

Rotating WheelsSpring Catapult Spinning Bar

DESIGN PROCESS – Chosen Mechanism

Simplest form of mechanical energy – Gravity

Testing at every phase of project

Mechanism influenced all areas of design

DESIGN PROCESS – Chassis and Drive System

Accomplished Tasks

1. Center of Mass Location

2. Reduction of Vibration

3. Ease of Assembly/Disassembly

4. Rear Wheel Drive System

5. Clean-Cut and Professional

DESIGN PROCESS – Steering System

Ackerman Steering

• Rack and pinion differential steering

• Designed for smallest turn radius

• Limited by physical structure

FABRICATION / ASSEMBLY

FABRICATION

Major Goals Achieved

1. Ease of Fabrication

2. Completion by Week 2

Key Steps

1. T-Slot Extrusions

2. 3D Printing

3. Waterjet

ASSEMBLY

MECHATRONICS

MECHATRONICS – Wiring

Launching Mechanism

• 180° Servo Motor

• Linear Actuator

Drive System

• 165 RPM DC Motor with Encoder

• L298N H-Bridge Motor Controller

Steering System

• 180° Servo Motor

• 4 IR Sensors

MECHATRONICS – Programming

Proportional control for wall following

• Limitations on turning

• Modified system

Independent states for each section of ramp

• IR sensor system – limitations

• Detect end of ramp

• Encoder

• Desired speed of robot

Proportional-Integral control for speed