pantherbot tool changer

PantherBot Tool Changer

Mechanical Engineering Design 2 – MAE 419411 March 2009

Jameson L. Tai William Rae Justin Nunn

In Partnership with:

All logos in this presentation are courtesy of the Florida Institute of Technology Robotics and Spatial Systems Laboratory and the Florida Tech Office of Creative Services.

Project Design Review Presentation

Project Introduction Overview

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

IntroductionProject PurposeThe purpose of our project is to retrofit the PantherBot

in order to give it the capability to open doors and press wall panel buttons, so that it can roam autonomously inside the F. W. Olin Engineering Complex.

Design ObjectivesDesign tools that allow PantherBot autonomous access

around Olin Engineering ComplexSafe for people and robotDoesn’t damage school facilitiesTools must not obstruct access to robot compartmentsTools must be visually appeasing

IntroductionGoalsTo apply our knowledge gained in class and

properly apply them to this projectTo apply technical skills, communication skills,

and the engineering design process into the project

To operate safely while protecting the PantherBot, its operator(s), and any persons or objects the PantherBot may come in contact with

To research on appropriate tools for the defined objectives and to adapt to current 6-DOF robotic arm

Design and Analysis Update

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Combination of Tools

Tool Analysis - Deformation

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Tool Analysis - Strain

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Tool Analysis - Stress

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Tool Holder-EH

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Tool Holder-EH

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Tool Holder-PH

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

FabricationOverview

(Image Source: Robotics and Spatial Systems Laboratory (RASSL))

Fabrication Progress (the Prod)Completed

Purchased

Not Complete Projected Finish Date

P-02 P-04 P-o1/P-02 (Welding) March 13, 2009

P-03 P-08 Final Assembly March 13, 2009

P-05 P-10

P-06 P-11

P-07

P-09

The Prod

Fabrication (the Enterprise)Completed

Purchased

Not Complete Projected Finish Date

E-01 E-03 E-02/E-06 (Welding)

March 13, 2009

E-04 E-05 March 12, 2009

Final Assembly March 13, 2009

The Enterprise

Fabrication (Tool Holders)Completed

Purchased

Not Complete Projected Finish Date

PH-01 March 13, 2009

EH-01 March 12, 2009

Mounting to March 13, 2009

The Enterprise Holder

The Prod Holder

FCRAR 20092009 Florida Conference on Recent Advances

in RoboticsMay 21 ~ 22, 2009Florida Atlantic UniversityJupiter, FloridaTechnical Paper and Showcase Presentation

“Design and Implementation of Building Navigational Tools for the PantherBot Mobile Robot”

Abstract approved by FCRAR 2009 Review Committee

(Image Source: http://www.eng.fau.edu/fcrar2009/index.html)

Timeline

Milestones and Deadlines• Complete Fabrication of Parts – March 13,

2009• Complete Coding – March 20, 2009• Complete Testing – March 27, 2009• FCRAR Final Report –March 30, 2009• Senior Design Showcase – April 3, 2009• FCRAR 2009– May 21~22, 2009

ConclusionWe are wrapping up fabrication and will

begin testing soonDue to an ordering issue we were slightly

behind, but have reorganized and will be able to finish on time

We will be finishing our project and preparing for the Design showcase and FCRAR 2009.

Questions?