2019-20 Robotics I & II€¦ · or redesign Final Product Iteration Design Phase: The Design...

2019-20

Robotics I & II

Robotics

Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electronics engineering, computer

science, and others. Robotics deals with the design, construction, operation, and use of

robots, as well as computer systems for their control, sensory feedback, and information

processing.

The Engineering Process

• In this class you are going to use the same process (sequence of steps)used in real-life engineering:

Problem Analysis

Solution Design

Prototyping TestingPrototype

adjustment or redesign

Final Product

Iteration

Phases of the Engineering Process

Problem Analysis

Solution Design

Prototyping TestingPrototype

adjustment or redesign

Final Product

Iteration

Design Phase Construction Phase Challenge

Products

Problem Analysis

Solution Design

Prototyping TestingPrototype

adjustment or redesign

Final Product

Iteration

Design Phase: The Design Folder Construction Phase Challenge

1. Cover Letter

Design Folder1. Cover Letter2. Description of the Challenge, Rules3. Prototype Sketches (1)4. Prototype Technical Drawings (3)5. Prototype CAD File6. Prototype Budget (in points)7. Print the final view

Products

Problem Analysis

Solution Design

Prototyping TestingPrototype

adjustment or redesign

Final Product

Iteration

Design Phase: The Design Folder Construction Phase Challenge

1. Cover Letter1. Cover

Letter

1. Prototype2. Successful test

Products

Problem Analysis

Solution Design

Prototyping TestingPrototype

adjustment or redesign

Final Product

Iteration

Design Phase: The Design Folder Construction Phase Challenge

1. Cover Letter

Building Foundations

• What is a Robot?• The Control Loop

Controller

Transmitter

ActuatorSensor

Transmitter

Building Foundations

The Brain

Technology

VEX-IQ

EV3

Ports

12 Ports General Purpose

4 Sensor Ports

3 Motor Ports

Language

Modkit

Robot C

Mindstorms

Remote Control

Vex-IQ Controller

Lego Commander

App (IOS/Android)

Internal Speaker

and Screen

Yes

Yes

Sensors

Technology

VEX-IQ

EV3

Distance

YES

YES

Mechanical Switch

YES

YES

Color

YES

YES

LED Capacitive

Touch Sensor

YES

NO

Sound Sensor

NO

YES

Sensors/Actuators

Technology

VEX-IQ

EV3

Distance

YES

YES

Mechanical Switch

YES

YES

Color

YES

YES

LED Capacitive

Touch Sensor

YES

NO

Sound Sensor

NO

YES

Motors

YES

YES (Middle size and Normal)

Structures

Characteristics of a Structure

• Strength

• Stability

• Economic Value

Structural System

• Made up of many smaller structural sub-systems that work together to provide a strong, stable, and cost-effective structure.

• Examples of these smaller structural sub-systems include:

o Roofo Wallso Floors

o Framingo Foundations

Structural engineers design these structural systems.

Structural Sub-System

• Made up of many structural elements that work together to provide a strong, stable, and cost-effective system.

• Basic structural elements include:

o Beamo Columno Truss

o Archo Vaulto Dome

Structural engineers design these structural systems.

Forces and Loads

• A force is any action that causes a change in the shape or motion of an object.

• A load is a force that is supported by a structural element.

• The terms force and load are often used interchangeably.

SNOWWIND

Structural Member Forces

Tension: A force that stretches or pulls apart a member, resulting in the member elongating.

Compression: A force that squeezes or presses a member together, resulting in the member shortening.

Shear: A force that acts perpendicular to the axis of the member, causing the internal particles of the member to slide against each other.

Beam

• A structural element that carries a load that is applied transverse (perpendicular) to its length.

• Usually a horizontal member that carries a vertical applied load.

• The top fibers of a beam are in compression; the bottom fibers are in tension.

Cantilever Beam

• A special type of beam that is supported only at one end

• The top fibers of the cantilever are in tension; the bottom fibers are in compression

Column

A vertical structural element that carries an axial force in compression

COLUMN

Truss

• Structural element that is composed of smaller structural members typically configured in triangular arrangements

• Some truss members carry a tension force; others carry a compression force

Arch

• A curved structural element that spans over an open space

• In stone arches, the last stone to be placed at the top is called the keystone

KEYSTONE

Vault

A continuous arch that forms a ceiling or roof

Dome

A structural element that is made up of arches

that radiate around a center point to create a

half sphere

Mechanical

EngineeringFoundations

Basic Mechanisms• Pulley and Belt

• Twisted Pulley and Belt

• Semi Circular Pulley and Open Belt

• Lifting Pulley

• Movable Pulley

• White`s Pulley

• Spanish Bartons

• Spur Gears

• Bebel Gears

• Worm or Endless Screw

• Internal Spur Gear and Pinion

• Satellite Gear Box

Lifting

MechanismsChallenge #1

4-Bar Linkage: Double Rocker

4-bar Linkage (Crank-rocker)

Four-Bar Linkage

4-bar lifting

Scissors Lift

Scissors Lift

ProgrammingEV3 Mindstorms

Example #1

Example #2

Example #3

Example #4

Example #5

Competitions

5

11x11x15

2000

✓

✓

Data

7

22 in diameter

4000

✓

Data

0 pts1 pt2 pts3 pts4 pts5 pts6 pts

10 pts

The Locator

Scoring Area

Start

Items Area

• 2 point per right-color cube in the scoring area

• 1 point per other-colors cube out the Items area

• 1 point for finishing inside the start area

• 60 seconds rounds

The Mine Field

Scoring Area

Start

• Each team begins with 100 points

• If touching a mine, lose 20 points.

• 60 seconds rounds

The Lord of the Cubes

• 1 Point per cube in the scoring area

• 2 point per cube stacked on top of others at Level 2

• 60 seconds rounds

Start

Score

Items Area

Ringmaster

• 1 Point per ring in any pole• Double points if 2 or more

rings in a pole are the same color.

• 60 seconds rounds

Start

Items Area

Scoring Poles

Crocorace

• Two Players Race

Domo Sumoboto

• Two Players Game• 60 seconds fight• Better of 3 wins

Sumo Arena

• Push your opponent out of the arena

Red

Blue

The Pharaon

• 60 seconds to reach the top of the pyramid and the blue area.

• Push your opponent out of the arena

Red

Blue

Over the Net

• Two Players Game• 60 seconds game

Player 1 Area

Net

Player 2 Area

• 1 point per cube in your opponent’s area• 2 points per cube returned to your opponent