Mobile Robot (MURVV) - Revision history

Mparadis at 19:07, 7 June 2017

2017-06-07T19:07:42Z

← Older revision		Revision as of 19:07, 7 June 2017
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	==Design and Assembly==		==Design and Assembly==
	===Chassis, Motors, and Power===		===Chassis, Motors, and Power===
	As software developers, we are not really comfortable cutting metal. We prefer to do as much of the work as possible on the computer. For this project, we designed the robot in a relatively inexpensive 3D CAD tool called [http://www.alibre.com/ Alibre]. You can download our design files for Alibre [{{SERVER}}/~~wiki~~/images/d/dc/OMNI_Platform.zip here].		As software developers, we are not really comfortable cutting metal. We prefer to do as much of the work as possible on the computer. For this project, we designed the robot in a relatively inexpensive 3D CAD tool called [http://www.alibre.com/ Alibre]. You can download our design files for Alibre [{{SERVER}}/docs21/images/d/dc/OMNI_Platform.zip here].

	We designed the robot to be made from 1/8" aluminum - although there is no reason it couldn't be made from steel. By designing in small interlocking tabs where the sheets of aluminum come together, it's much easier to correctly assemble the robot before welding.		We designed the robot to be made from 1/8" aluminum - although there is no reason it couldn't be made from steel. By designing in small interlocking tabs where the sheets of aluminum come together, it's much easier to correctly assemble the robot before welding.
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	The following pictures show our design for chassis and drive train:		The following pictures show our design for chassis and drive train:

	[[File:Chassis empty.png\|550px\|link={{SERVER}}/~~wiki~~/images/e/e2/Chassis_empty.png]] [[File:Chassis empty top.png\|550px\|link={{SERVER}}/~~wiki~~/images/c/c1/Chassis_empty_top.png]] [[File:Bodycutsmall.png\|550px\|link={{SERVER}}/~~wiki~~/images/8/85/Bodycut.png]]		[[File:Chassis empty.png\|550px\|link={{SERVER}}/docs21/images/e/e2/Chassis_empty.png]] [[File:Chassis empty top.png\|550px\|link={{SERVER}}/docs21/images/c/c1/Chassis_empty_top.png]] [[File:Bodycutsmall.png\|550px\|link={{SERVER}}/docs21/images/8/85/Bodycut.png]]

	The motors mount to the interior walls. Notice the holes machined into the side of the chassis, they are there to allow easy screwdriver access to the motor mounts:		The motors mount to the interior walls. Notice the holes machined into the side of the chassis, they are there to allow easy screwdriver access to the motor mounts:

	[[File:Chassismotorsin.png\|550px\|link={{SERVER}}/~~wiki~~/images/b/bd/Chassismotorsin.png]] [[File:Motorssmall.jpg\|550px\|link=]]		[[File:Chassismotorsin.png\|550px\|link={{SERVER}}/docs21/images/b/bd/Chassismotorsin.png]] [[File:Motorssmall.jpg\|550px\|link=]]
	[[File:brazingrods.JPG\|thumb\|link=\|310px\|If you don't have a TIG or MIG welder, and you want to weld aluminum, you can use a blowtorch with a special type of brazing rod.]]		[[File:brazingrods.JPG\|thumb\|link=\|310px\|If you don't have a TIG or MIG welder, and you want to weld aluminum, you can use a blowtorch with a special type of brazing rod.]]
	We welded the frame together using our new TIG welder.		We welded the frame together using our new TIG welder.
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	====Batteries====		====Batteries====
	[[File:battery.JPG\|thumb\|310px\|link={{SERVER}}/~~wiki~~/images/c/ca/Battery.JPG\|Sealed lead acid battery. Two of them were used creating this robot.]]		[[File:battery.JPG\|thumb\|310px\|link={{SERVER}}/docs21/images/c/ca/Battery.JPG\|Sealed lead acid battery. Two of them were used creating this robot.]]
	We used a pair of 12V, 10Ah lead acid batteries in series to generate 24VDC. We fused the output of the batteries with a 20A fuse. 20 Amps was necessary, even though each of the 4 motors is rated for 2.2 Amps continuous. DC Motors will easily consume much more than their rated current under heavy load or start up. We would occasionally blow the 10 Amp fuse. 15 Amps would probably be sufficient.		We used a pair of 12V, 10Ah lead acid batteries in series to generate 24VDC. We fused the output of the batteries with a 20A fuse. 20 Amps was necessary, even though each of the 4 motors is rated for 2.2 Amps continuous. DC Motors will easily consume much more than their rated current under heavy load or start up. We would occasionally blow the 10 Amp fuse. 15 Amps would probably be sufficient.

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	====Full Code====		====Full Code====
	You can download the full Visual Studio project here:		You can download the full Visual Studio project here:
	* [{{SERVER}}/~~wiki~~/images/2/2a/MecanumRobot.zip MecanumRobot.zip]		* [{{SERVER}}/docs21/images/2/2a/MecanumRobot.zip MecanumRobot.zip]

	This project includes code to interface with the webcam. You can learn more about interfacing with webcams in the [[USB Webcam Primer]].		This project includes code to interface with the webcam. You can learn more about interfacing with webcams in the [[USB Webcam Primer]].
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	====Download====		====Download====
	You can download the full code here:		You can download the full code here:
	* [{{SERVER}}/~~wiki~~/images/2/2b/Robot.c robot.c]		* [{{SERVER}}/docs21/images/2/2b/Robot.c robot.c]

	==Finished!==		==Finished!==

Mparadis: /* Finished! */

2013-06-24T21:04:33Z

Finished!

← Older revision		Revision as of 21:04, 24 June 2013
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	{{#ev:youtube\|jxaSe6RJQvY}}		{{#ev:youtube\|jxaSe6RJQvY}}

	~~===Coming Soon...===~~
	~~More Video!~~

Burley: /* Finished! */

2012-10-12T14:48:40Z

Finished!

← Older revision		Revision as of 14:48, 12 October 2012
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	[[File:robotfinalfinal.jpg\|link=\|1000px]]		[[File:robotfinalfinal.jpg\|link=\|1000px]]

	~~<!--~~{{#ev:youtube\|jxaSe6RJQvY}}~~-->~~		{{#ev:youtube\|jxaSe6RJQvY}}

	===Coming Soon...===		===Coming Soon...===
	More Video!		More Video!

Burley: Burley moved page Mobile Robot (Murvv) to Mobile Robot (MURVV)

2012-10-10T16:44:26Z

Burley moved page Mobile Robot (Murvv) to Mobile Robot (MURVV)

← Older revision	Revision as of 16:44, 10 October 2012
(No difference)

Burley: /* Finished! */

2012-10-03T13:29:24Z

Finished!

← Older revision		Revision as of 13:29, 3 October 2012
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	[[File:robotfinalfinal.jpg\|link=\|1000px]]		[[File:robotfinalfinal.jpg\|link=\|1000px]]

	{{#ev:youtube\|jxaSe6RJQvY}}		<!--{{#ev:youtube\|jxaSe6RJQvY}}-->

	===Coming Soon...===		===Coming Soon...===
	More Video!		More Video!

Burley: /* Finished! */

2012-10-03T13:29:11Z

Finished!

← Older revision		Revision as of 13:29, 3 October 2012
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	[[File:robotfinalfinal.jpg\|link=\|1000px]]		[[File:robotfinalfinal.jpg\|link=\|1000px]]

	~~<!--~~{{#ev:youtube\|~~fbp9ns5KMbE~~}}~~-->~~		{{#ev:youtube\|jxaSe6RJQvY}}

	===Coming Soon...===		===Coming Soon...===
	Video!		More Video!

Mparadis: /* Electronics */

2012-09-27T21:08:53Z

Electronics

← Older revision		Revision as of 21:08, 27 September 2012
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	We cut a sheet of acrylic to sit on top of the motors and act as the mounting point for all of the electronics.		We cut a sheet of acrylic to sit on top of the motors and act as the mounting point for all of the electronics.

	[[File:electronicsplainsmall.jpg\|link=~~{{SERVER}}/wiki/images/2/27/Electronicsplain.JPG~~\|800px]] [[File:electronicssmall.jpg\|link=~~{{SERVER}}/wiki/images/2/2c/Electronics.jpg~~\|800px]]		[[File:electronicsplainsmall.jpg\|link=\|800px]] [[File:electronicssmall.jpg\|link=\|800px]]

	Since we have wired the 2 12V batteries in series, we have a 24VDC output. This is good since the motors we are using are 24V motors, however this is also a problem since the SBC runs on 12V. To solve this, we have included a 12V output DC-DC converter (highlighted in green) so that our system has both a 24V and 12V rail.		Since we have wired the 2 12V batteries in series, we have a 24VDC output. This is good since the motors we are using are 24V motors, however this is also a problem since the SBC runs on 12V. To solve this, we have included a 12V output DC-DC converter (highlighted in green) so that our system has both a 24V and 12V rail.

Burley: /* Chassis, Motors, and Power */

2012-09-19T15:09:50Z

Chassis, Motors, and Power

← Older revision		Revision as of 15:09, 19 September 2012
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	We welded the frame together using our new TIG welder.		We welded the frame together using our new TIG welder.

	[[File:tigweldersmall.jpg\|800px\|link=]]		[[File:tigweldersmall.jpg\|800px\|link=\|center]]


	This is the real reason we made the robot out of aluminum - aluminum welding is really hard, and we wanted to try it. In case it wasn't obvious: when you weld, don't do it on a wooden table...		This is the real reason we made the robot out of aluminum - aluminum welding is really hard, and we wanted to try it. In case it wasn't obvious: when you weld, don't do it on a wooden table...

	[[File:dontweldonwood.JPG\|link=\|600px]]		[[File:dontweldonwood.JPG\|link=\|600px\|center]]

	<br clear=all>		<br clear=all>

Burley: /* Chassis, Motors, and Power */

2012-09-19T15:09:07Z

Chassis, Motors, and Power

← Older revision		Revision as of 15:09, 19 September 2012
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	[[File:Chassismotorsin.png\|550px\|link={{SERVER}}/wiki/images/b/bd/Chassismotorsin.png]] [[File:Motorssmall.jpg\|550px\|link=]]		[[File:Chassismotorsin.png\|550px\|link={{SERVER}}/wiki/images/b/bd/Chassismotorsin.png]] [[File:Motorssmall.jpg\|550px\|link=]]
			[[File:brazingrods.JPG\|thumb\|link=\|310px\|If you don't have a TIG or MIG welder, and you want to weld aluminum, you can use a blowtorch with a special type of brazing rod.]]
	We welded the frame together using our new TIG welder.		We welded the frame together using our new TIG welder.

	[[File:tigweldersmall.jpg\|800px\|link=]]		[[File:tigweldersmall.jpg\|800px\|link=]]

	~~[[File:brazingrods.JPG\|thumb\|link=\|310px\|If you don't have a TIG or MIG welder, and you want to weld aluminum, you can use a blowtorch with a special type of brazing rod.]]~~
	This is the real reason we made the robot out of aluminum - aluminum welding is really hard, and we wanted to try it. In case it wasn't obvious: when you weld, don't do it on a wooden table...		This is the real reason we made the robot out of aluminum - aluminum welding is really hard, and we wanted to try it. In case it wasn't obvious: when you weld, don't do it on a wooden table...

Burley: /* Chassis, Motors, and Power */

2012-09-19T15:08:11Z

Chassis, Motors, and Power

← Older revision		Revision as of 15:08, 19 September 2012
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	We welded the frame together using our new TIG welder.		We welded the frame together using our new TIG welder.

	[[File:tigweldersmall.jpg\|800px\|link=~~{{SERVER}}/wiki/images/7/70/Tigwelder.jpg~~]]		[[File:tigweldersmall.jpg\|800px\|link=]]

	[[File:brazingrods.JPG\|thumb\|link=\|310px\|If you don't have a TIG or MIG welder, and you want to weld aluminum, you can use a blowtorch with a special type of brazing rod.]]		[[File:brazingrods.JPG\|thumb\|link=\|310px\|If you don't have a TIG or MIG welder, and you want to weld aluminum, you can use a blowtorch with a special type of brazing rod.]]