16.Integration system¶

Assignment¶

 -Design and document the system integration for your final project

System Integration — Delivery Robot¶

Overview¶

My final project is an Autonomous Delivery Robot for indoor environments such as offices, campuses, or hotels.

The system integrates: - Mechanical System: Custom-designed chassis and cargo compartment (Inventor). - Drive System: Hoverboard BLDC motors and drivers. - Control System: Arduino Mega for motor control. - Server System: Raspberry Pi 4 running Flask for local control. - Future upgrade: Jetson Nano, LiDAR (YDLIDAR X3 Pro), SLAM, and ROS 2 for autonomous navigation.

Design Process¶

Conceptual Design¶

• Research of existing delivery robots.
• Analysis of delivery scenarios and requirements.
• Form factor and weight estimation.
• Initial sketches and CAD design in Autodesk Inventor.

Preliminary Design¶

• Platform shape and wheel positioning.
• Motor mounting testing.
• Driver and power system evaluation.

Detailed Design¶

• 3D Printing: Full body printed on Bambu Lab X1 Carbon 24/7 over 4 days.

VIDEO¶

• CNC Wood Cutting: Platform cut from plywood with motor windows.

• Electronics fixed inside the chassis (Arduino Mega, drivers, Raspberry Pi).
• Standard connectors used for modular wiring.

Documentation¶

• CAD files (Inventor).
• Wiring schematics.
• Bill of Materials (BOM).

Packaging & Mechanical Integration¶

• Wire routing via channels and protective sleeving.
• Secure fasteners and thread locking.
• Motor and driver mounting on the chassis.

• Raspberry Pi secured inside the compartment.

Video test bldc motor¶

Testing Strategy¶

QA (Quality Assurance)¶

• Visual inspection of mechanical and wiring quality.
• Verification of mechanical alignments.

QC (Quality Control)¶

• Test drives along planned routes.
• Shake and drop tests.
• Flask web control testing.

Types of Testing¶

• Shake test.
• Burn-in test (24-hour motor operation).
• Route cycling tests (100+ deliveries simulation).

Anticipated Failure Modes & Mitigations¶

Mechanical¶

• Fasteners loosening — solved by lock washers and thread lockers.
• Overload risk on platform.

Wiring¶

• Strain relief implemented on all connectors.
• Protective tubing for all wires.

Components¶

• Driver temperature monitored.
• Current monitoring.

Power¶

• Li-Ion battery with protection circuit.
• Over-voltage protection.

Software¶

• Error monitoring in Flask server.
• Failsafe via Arduino control.

Repairability & Lifecycle¶

• Modular construction.
• Quick access to motors and electronics.
• Upgrade-ready for ROS 2 and autonomous navigation.

Fail Fast Approach¶

• Iterative prototyping from basic chassis and motors.
• Flask control prior to full SLAM integration.
• Next steps: LiDAR + Jetson Nano + ROS 2.

Summary of Build Process¶

1. Mechanical platform and chassis design (Inventor).
2. Manufacturing (3D printing + CNC cutting).
3. Electronics integration.
4. Software development (Flask + Arduino).
5. Testing and improvements.

First test robot¶

Upgrade: Jetson Nano and ROS 2 Integration¶

At the current stage, the robot is controlled locally via Flask running on a Raspberry Pi 4.
For the next phase of development, I am upgrading the system by integrating Jetson Nano and ROS 2 to enable full autonomous navigation using SLAM and LiDAR.

This will allow the robot to: - Build its own maps. - Navigate from point A to point B autonomously. - Use computer vision and LiDAR data for obstacle detection and environment awareness.

This image shows the Jetson Nano Developer Kit, which will be installed on the robot alongside the existing Raspberry Pi 4.
The Raspberry Pi 4 will handle user interface and local server, while Jetson Nano will process SLAM, navigation stack, and object recognition under ROS 2.

Next integration steps:¶

1. Install ROS 2 on Jetson Nano.
2. Integrate LiDAR (YDLIDAR X3 Pro).
3. Set up SLAM using ROS 2 Navigation Stack.
4. Test autonomous delivery missions in a controlled environment.