September 23, 2003 Jeff Wilson 1

The Go-Go Gantry

Jeff Wilson

Lee Strobridge

Allison Bodis

David Carlson

Mark Jarrett

Jeremy Paradee

September 16, 2003 Mark Jarrett, Jeremy Paradee, and Jeff Wilson

2

Problem Statement:

• To engineer an automated system that plots text on various sizes of poster board

• Input is ASCII file (.txt) 100 bytes max

• Must complete in 8 weeks

September 23, 2003 Mark Jarrett, Jeremy Paradee, and Jeff Wilson

3

Solution:

• Movable Vehicle

• Computer sends signal to Go-Go Gantry

• Go-Go Gantry drives in X direction

• Gantry with pen moves in Y direction

• Combination of X-Y motion plots text

• Vehicle plots text

September 23, 2003 Lee Strobridge, Jeremy Paradee, Mark Jarrett, and Jeff Wilson

4

System Overview:

Controller

Motor

Motor Motor

Solenoid

Marker

12V

September 24, 2003 Strobridge, Bodis, Jarrett, Wilson 5

Mechanical Overview:

Stepper

Motor

Solenoid

Stepper Motor

GantryStepper

Motor

Marker

October 09, 2003 Lee Strobridge 6

3-D Model:

September 23, 2003 Dave Carlson 7

Mechanical Detail:Gantry

September 23, 2003 Dave Carlson, Allison Bodis, Mark Jarrett

8

Mechanical Detail:Marker Fixture

September 23, 2003 Mark Jarrett and Jeff Wilson 9

Solenoid: Test

12 V Solenoid:

F = 19 Newtons

September 24, 2003 Wilson, Bodis, Strobridge, Paradee, Jarrett, Carlson

10

Casters: Design Decision

September 23, 2003 Mark Jarrett and Jeff Wilson 11

Ball Vs. Wheel Casters: Test

September 24, 2003 Strobridge, Wilson, Jarrett, Bodis 12

Cup n’ Ball Casters: Test

September 23, 2003 Allison Bodis 13

Friction: TestTrial (Tile

Floor)Friction Force

(uF)Normal Force

(Fn)

1 1.5 37

2 1.1 37

3 1.5 37

4 1.5 37

5 1.3 37

Average 1.4 37

(uF) = u (Fn)

u = .0376

* All measurements made in Newtons

September 23, 2003 Mark Jarrett, Jeff Wilson, and Jeremy Paradee

14

Electrical Overview:

12VDC

120V AC

Computer HC11

Stepper Motors

Motor Controller

SolenoidPower

Signal

October 08, 2003 Dave Carlson, Jeff Wilson 15

68HC11 Microcontroller:

September 23, 2003 Paradee, Strobridge, Carlson, Jarrett, Wilson, Bodis

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Computer System Overview:

C Code

Assembly Code

ASCII File In PC:

Computer:

Micro-ControllerHC-11“Yard Sale”

Go Go Gantry:

Seria

l Cab

le

Memoryyardsale

Letters

Printing

October 09, 2003 Jeff Wilson 17

Layer Diagram:

Download

Letter Decision

Data Entry

Motor 1 Motor 2 Motor 3 Solenoid

September 23, 2003 Jeff Wilson and Mark Jarrett 18

Program Flow Chart:Start

End

Home

Letter?LetterSubroutine

Yes

No

September 23, 2003 Jeff Wilson 19

Pseudo Code ‘Y’:Solenoid #1 Set = Down     Motor #2 Set = Forward         Time Delay     Motor #2 Set = Stop     Motor #1 Set = Forward         Time Delay     Motor #1 Set = Stop     Motor #2 Set = Reverse         Time Delay     Motor #2 Set = Stop     Motor #2 Set = Forward         Time Delay         Time Delay     Motor #2 Set = Stop     Motor #1 Set = Reverse         Time Delay     Motor #1 Set = Stop     Solenoid #1 Set = Up     -Home Pen Subroutine-

    -Test for more letters to print-     -Move to next letter location if needed-

October 08, 2003 Dave Carlson 20

User Interface Code://

// entertext.c - a terminal program to enter text and send it to the

// Go Go Gantry. A list of options is given to the user, who can enter

// text of up to 100 standard ascii letters.

#include <stdio.h>

int main( void )

{

char text[100], choice = 'a';

int numberOfChars = 0, i = 0;

// Title screen and prompt for letters

printf("****************************************************************\n");

printf("* *\n");

printf("* --- Go Go Gantry: Text Terminal --- *\n");

printf("* *\n");

printf("* Enter up to 100 letters to be printed by the Go Go Gantry *\n");

printf("* Press RETURN to continue *\n");

……..

October 08, 2003 Dave Carlson 21

User Interface:

October 09, 2003 Lee Strobridge 22

Design Vs. Prototype:

September 24, 2003 Carlson, Jarrett, Wilson, Bodis, Strobrige, Paradee

23

Rover II Platform: Prototype• Pre-Assembled,

available• Large front

prototyping area• HC 11, Stepper

motors, wheels, controllers, serial communication and interrupt drivers

• More pins give options for sensors

September 23, 2003 Mark Jarrett 24

Schedule:TASKS 1 2 3 4 5 6 7 8

CONCEPT

FEASIBILITY

DESIGN

BUILD

TEST

REVISE

DEMO

1 Solenoid, 2 Wheels, 3 Stepper Motors, 4 RC car with pen, 4 Motor simulation, 5 Sensors6 System integration

DEMO EXPECTATIONS: GO-GO gantry will draw one letter in 30 seconds

13

DEMO

We are here!

42 5

6

Thank You, Any Questions?

Go-Go Gantry Webpage:I:\WEB\DOCS\ELM\Projects\2003-2004\MiniProject\GoGoGantry\index.html