Developmental Work

Tess Mocik

Marine Academy of Science and Technology

Systems Engineering-VEX Robotics

21 December 2011

                                                  Developmental Work

 

       With senior year progressing, a new semester has brought forth a new stage in the senior project process. This stage is the developmental stage, and it is comprised of a supply list, a tool and equipment list, a material list, orthographic drawings, exploded isometric drawings, isometric rendered drawings, and a plan of procedure. This stage holds a great deal of importance. For students, it will enable them to organize their thoughts in a clear and comprehensible manner to assist them in the construction of the mechanical and electrical aspects of the robot. It will also provide an easy-to-read instruction manual (plan of procedure) that would make it so any person could recreate the robot, regardless of their knowledge of robotics. The goal of the VEX robotics teams, is to design and construct a robot able to perform aquatic and terrestrial challenges. Personally, my partner and I will putting a ball through a hoop, towing a friendly vessel, sinking an enemy vessel, and dropping a buoy for the aquatic port

ion of the challenge, and obtaining a soil sample without damaging marine life for our land challenge. If everything goes as planned my partner and my VEX robot will look like caption 1.1 below.

                       Caption 1.1 With a puncture tool for sinking an enemy vessel, a claw for towing a friendly vessel, putting a ball through a hoop, and dropping a buoy, and obtaining a soil sample, the robot in the caption above will perform all of the intended challenges my robot will face.

                The robot will, of course, require materials to make this possible. Listed below are the raw materials needed for the construction of the robot.

Supply List/Raw Materials:

•            (1)VEX robotics basic start up kit

•            (1)Upgraded tank tread

•            (1)Updated Camera Kit

•            (1)Upgraded 269 2-Wire Motor

•            (1)Tool kit

•            (1)batteries triple a rechargeables

•            (1)8 Bay AA/AAA Smart Battery charger

Tools and Equipment

•            (1)VEX  safety goggles

•            (1)Performance tool kit

•            (5) 5/64" T-Handle Hex Driver

•            (5) 3/32" T-Handle Hex Driver

•            (5) 3/32" Ball-End Hex Screwdriver

•            (1)Allen Wrench (8 pack) 3/32”(Fits the 8-32 screws)

•            (1)level

Materials

•            Turntable bearing kit

•            Tank tread

•            Smart charger and cord

•            7.2V Robot Battery NiMH 2000mAh

•            9.6v transmitter battery

•            Advances sensor kit

          

After obtaining the necessary raw materials above, the next step is preparing the materials.

Preparing the Materials:

 •Take the VEX Robotics Basic Startup Kit provided by your teachers.

 •Carefully take all of the bags of pieces out of the box.

 •Be sure to take an easy-to-read and clear inventory of EVERY piece in the box. This inventory will be very helpful in making sure the VEX kit is left the same way it was found.

 •Inspect each piece to make sure it is not damaged.

 •Lay out all of the pieces on a flat surface for convenience and organization.

                                            

                After preparing materials, the next step is making a list of all the parts required for assembly. For each systems team, all of the participants in each group’s list will be different. For example, in each group the mechanical partner will have a different list than the partner focusing their efforts on the electrical portion of the project. The list below is for the parts required for assembly for the electrical aspect of the project.

Electrical Parts Required for Assembly:

 •PIC Microcontroller(1)

 •Limit Switch(2)

 •Bumper Switch(2)

 •Servo Module(1)

 •269 2-Wire Motor(4)

 •3-Wire pwm extension cable(1)

 •Transmitter(1)

 •Receiver to controller cable(1)

 •RF receiver module(1)

 •Receiver antenna sleeve(1)

 •Receiver antenna sleeve holder(1)

 •Washer(16)

 •Square Bar(3”) (4)

 •Lock nut(1/4”) (8)

 •Collars (4)

 •Bearing Block(8)

Once a detailed list of parts required for assembly is completed, the next step is to assemble the parts. The assembly of the electrical wiring of the robot cannot be done until the partner working with the mechanic aspect of the robot has assembled the hull of the robot, so it is crucial for them to work diligently on the construction, so the electrical partner may began their work. The list below will give a detailed step-by-step instruction manual as to how to assemble the VEX Robot’s electrical wiring.

-     Charge battery. *Make sure to not over-charge*
-       Familiarize self with hull of VEX robot

-       Plan out what electrical appendages will be attached to the hull

-       Be sure to make sure appendages are spread out evenly across the hull to ensure equal distribution of weight.

-      For this specific robot, it was most appropriate for electrical parts to go in the back and appendages to go in the front.  
-      As a result, the next step is to plan where each front appendage and back electrical piece should go.

-      Place the PIC Microcontroller in the bottom of the hull and screw in with six 8-32 screws (3/8”).     

-      Without wheels, a robot is going nowhere fast. To remedy the situation, begin turning the hull so the right side of   
      the robot is facing you. Insert one of the four 3” square bars five holes in from the back of the plate.

-      Insert a bearing block on both sides of the square bar; one inside the hull of the robot and one directly outside.

-      Insert a washer on top of the bearing blocks.

-      Proceed to place two collars over the two washers.

-      Secure the two collars with an allen wrench until tight.

-    On the inside of the hull, place one of the 269 2-Wire Motors on the square bar and place another collar over it.

-      Secure collar with allen key.

-      Place tire on outside of hull

-      Place collar outside wheel, secure with allen key

-      Place little black bolt on bottom of motor through plate.

-      Repeat for three other wheels.

-      Take 3-wire pwm extension cable and attach battery to bottom of PIC microcontroller

-      Decide how power will be delegated. For all intensive purposes, the left side of this robot will power propulsion and the right side will power the movement of appendages.

-Choose to wire that corresponds with the different pieces of the robot.

-Use 3-wire pwm extension to plug in the appendages into the corresponding slots on the microcontroller.

-Make sure everything works

-Once the assembly of parts is successfully completed, finishing processes are the next step.

Finishing Processes include:

    -Inspecting robot to make sure pieces are all attached properly.
    -Making sure wiring is connected to proper appendages
    -Inspect robot to make sure it obeys controls/ is wired properly.

            In conclusion, the process for making a robot, while seemingly tedious, can be broken down into smaller aspects which are easier to tackle on by one. By creating a plan of procedure like the one above, members in a group are able to lay out their ideas and organize them so they are easier to comprehend. Thus far, my partner and I have been working more on the paper-work/autocad than the construction of the robot. As a result, we will now be focusing on the construction of our robot, and our plan of procedure will allow us to do so.

Tess Mocik

Electrical Partner

Orthographic of 2-wire 269 Motor

 Electrical Partner

Orthographic of Servo Module