2011:Electrical Main

Electrical Subteam Members

• Students

Alex Rozanov

Vaughn Thompson

Matthieu Dora

Henry Wagner

• Mentors

Dave Burlone

Dean Smith

Christian Stoeckl

Dave Schoepe

Master Task List

Design robot.

Build robot.

Test Robot.

Sub Task List

- Control Board in Inventor: The current drive train design is almost complete in Inventor this means that one of the kids can start drawing in the control board.

- Check all Batteries: The batteries should have the tape removed and crimps checked and redone if needed. Larry is talking about buying a power meter that will graph the battery.

- Experiment with Line Sensors: Pull out a power supply and scope, find out how the sensors work, and test range and sensitivity.

- Measure Mach 1511 Polycarb: This is the thickness of the polycarb to use on the control board and order a sheet.

- CAN Bus: Make two Serial to CAN converters, two CAN terminators, four CAN cables

- Safety Light: Wire up the Orange Safety Light

- Communication Signals: Plan and design human player communication lights, this is being discussed on the forums, may or may not be used.

- Motors: Inventory and test motors.

Links to Other Subteams' Important Stuff

2011:Robot IO Map

Robot Electromechanical Design Features 

OUTPUTS

1. Drivetrain motors
2. Arm elevation motor
3. Arm unfold/extend
4. Gripper rollers
5. Minibot deployment release

INPUTS

1. Gyro
2. Drivetrain motors speed and direction
3. Arm angle
4. Line tracking sensors

ARM PLACEMENT ACCURACY Need to determine the required resolution (accuracy) of the arm angular sensor.

This is a very, very rough determintaion, based on some assumptions (because I didn't have the robot & arm dimensions). -Dave S

• Placement accuracy required:

1. ubertube central hole is 12"
2. scoring peg foot is 2.75"
3. If perfectly centered, this leaves approx 4.5" gap between tube and scoring peg.
4. Let's cut this in half to have some safety margin, and say we need to place the tube within 2" during autonomous mode.

• Sensor resolution required:

1. Fully extended arm reaches to 9.5' (114")
2. ASSUME that arm is pivoted at a point 48" above ground in the center of the robot, then the arm's length is about 68".
3. the circumference of the arc the arm traces is 427"
4. so 2"/427" times 360 degrees for a full circle gives about 1.7 degrees as corresponding to 2" in arm rotation out at the gripper.
5. To allow for some margin of error, let's say we need to sense the arm angle at least within 1.0 degree.

So need to choose a sensor with 1 degree of angular resolution or better.

Electrical Main Subteam's Engineering Notebook

Week 1

• 1/11/2011
• 1/12/2011
• 1/13/2011
• 1/14/2011
• 1/15/2011

Week 2

• 1/16/2011
• 1/18/2011
• 1/19/2011
• 1/20/2011
• 1/22/2011

Week 3

• 1/23/2011
• 1/25/2011
• 1/26/2011
• 1/27/2011
• 1/29/2011

Week 4

• 1/30/2011
• 2/1/2011
• 2/2/2011
• 2/3/2011
• 2/5/2011

Week 5

• 2/6/2011
• 2/8/2011
• 2/9/2011
• 2/10/2011
• 2/12/2011

Week 6

• 2/13/2011
• 2/14/2011
• 2/15/2011
• 2/16/2011
• 2/17/2011
• 2/18/2011
• 2/19/2011
• 2/20/2011
• 2/21/2011
• 2/22/2011

Engineering Notebook Templates Available at: Engineering_Notebook_Template

Please Label All Notebook Pages 2011:Electrical Main MM.DD to avoid confusion.

Component Specifications

Jaguar Speed Controllers

Jaguar Firmware Notes

Victor 884 Speed Controllers

File:2011 Motor Curves.pdf

2009 KOP Motors Spreadsheet (Chief Delphi)

Sensors

Servos

Micro Switches

Electrical Inventory

File:BDC24 RDK UM.pdf

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

Bill of Materials (Electrical)

Line Sensor Notes

Archives

• 2010 Electrical Main
• 2009 Electrical Main