applications and implications
Project Summary:
The A-Bot has been designed to be a ROSADP (Robotic Operating System Application Development Platform) a Scalable fully Functional Simi-Humanoid robot that can run the ROS framework and will be used for experimentation and Application Development within the frame work, and is designed with FabLab Machines in mind and thus the core design principle is Design for Manufacturing but also it is built to experiment and develop with techniques in robotics such as Odometry and Kinematics being built with 2 Geared DC motors with Feedback and a Rigid torso and 2 arms as well as an array of sensors all of these features will allow the user to explore some of the advanced subjects in Robotics
Deliverables for the project:
The Core concept of the project is creating a platform to allow for a higher level of robotic experimentation at a relatively lower cost but without sacrificing quality
The System well be comprised of several sub-Systems which are:
- Drive Base (Drive Motors, Controllers, Encoders, Batteries, etc.)
- Torso (Sensor Array, Main CPU, Batteries, etc.)
- Arms (Servo Motors, Servo Controller, End Effector)
- *Head (Vision and Sound Systems)
Research:
After a bit of research I can reference several companies that have the same kind of product such as:
- Willow Garage PR2
- Willow Garage Turtle Bot
- K-Team Khepera2
- K-Team Khepera3
- iRobot Create
All these references are a great source of information about what is the standard of developing the idea as well as building something that after a bit of developing it can soothing really comparable to the existing project
Bill of Material (BOM):
# |
Item Name |
Qyt |
Unit |
Price per Unit |
Price Per Qyt |
|
Drive Base |
|
|
|
|
1 |
DC Motor Gear Head 12V 74mA |
2 |
Item |
$14.95 |
$29.90 |
2 |
Sealed Lead Acid Battery 12V |
2 |
Item |
$10 |
$20 |
3 |
A-Tech Motor Controller |
2 |
Item |
|
|
4 |
A-Tech BMS |
2 |
Item |
|
|
5 |
*A-Tech Wheels |
2 |
Item |
|
|
6 |
Metal Caster Wheel |
2 |
Item |
|
|
7 |
Sharp IR Proximity Sensor |
4 |
Item |
|
|
8 |
*Microsoft Kinect |
1 |
Item |
|
|
9 |
Raspberry Pi |
1 |
Item |
|
|
10 |
65mm Wheels |
2 |
Item |
|
|
11 |
Micro Servo Motor |
8 |
Item |
|
|
12 |
M3 Machine Screws |
1 |
Bag |
|
|
13 |
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|
14 |
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15 |
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16 |
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17 |
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18 |
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19 |
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Sub-Systems:
- Drive Base
- Motor and Motor Controls
- Batteries and BMS
- Sensors
- Torso
- Arms
- Motors
- Controllers
- Gripper
- *Head
Manufacturing Process
- CAD
- Sketching
- Part Design
- Virtual Assembly
- Simulation
- Creating Fabrication Files
- Circuit Design
- Coding Firmware
- Fabrication
- Laser Cutting
- 3D Printing
- Casting
- Milling
- Soldering
- Injecting Firmware
- Assembly
- Assembly of Subsystem
- Wiring Electronics
- Testing
- Motion Testing
- Arm Testing
- Sensor Testing
- Communication testing
- Debugging
- R-iteration (Milestone1: 1st Prototype)
Task List
Task Name |
% of Completion |
Round 1 |
|
Develop Concept |
89% |
Draw Up Documents |
70% |
Mechanical CAD |
40% |
Electrical CAD |
|
Software Prototype |
|
Fabrication |
|
Assembly |
|
Testing |
|
Documenting |
|
|
|
Assumptions for Achieving Goal:
- Assuming everything can procured within the given timeframe
- Assuming Fabrication Facility is not in need of maintenance
- Assuming Minimal Debugging
Schedule:
| Task Name | Date |
Design Cad Model |
5/27/2014 |
Design Circuitry |
5/27/2014 |
*Simulation and Animation |
|
Procurement of Components and Materials |
5/28/2014 |
Fabrication |
5/28/2014 |
Assembly |
5/27-28/2014 |
Wiring |
5/28/2014 |
| Programing | 5/29/2014 |
| Debugging & Re-Spinning | 5/30/-6/3/2014 |
Evaluation:
The Goals set for this project is to get all Systems to the point of usage i.e.(Arms Can Grip an Object and move through a maze to put it in its place thus showing the Drive Base, Arms and Low Level Sensor Array are functioning )