Project Updates
Week 2
(3/2/2020 - 3/6/2020
Team NRG's Mechanical Team started to assemble the components of the robot. Belt production did not occur this week again as parts are still on order. spatula mount system was sent off for fabrication.
Team NRG's Software Team finished code and ordered new PCB.
Week 22
(2/24/2020 - 2/28/2020
Team NRG's Mechanical Team continued to fabricate components for the robot. Belt production did not occur this week due to slow down issues with other components. A new spatula and mounting apparatus was conceptualized.
Team NRG's Software Team finished code for the belt and found an issue with the BCP board that was received. New boards have been ordered this is not expected to push back the project.
Week 21
(2/17/2020 - 2/21/2020
Team NRG's Mechanical Team continued to fabricate components for the robot. The belt assembly was CADed to begin fabrication next week. CAD models were updated. A belt layout and spatula holder was conceptualized.
Team NRG's Software Team continued to write code for the belt and servo integration.
Week 20
(2/10/2020 - 2/14/2020
Team NRG's Mechanical Team continued to fabricate components for the robot. The servo controlling the spatula was relocated and the mount plate was redesigned to accommodate the re position. CAD models were updated. A belt layout and spatula holder was conceptualized.
Team NRG's Software Team created belt drive and command code.
Week 19
(2/3/2020 - 2/7/2020
Team NRG's Mechanical Team continued to fabricate components for the end effector. When assembling the up to date CAD model the team discovered design issues causing a relocation of the power screw. Total part production is about 15% completed.
Team NRG's Software Team finished porting the software code to the Arduino.
Week 18
(1/27/2020 - 1/31/2020
Team NRG's Mechanical Team started fabrication of parts as well as picked out a new belt for the system.
Preliminary tests were created to see if system will meet specifications.
Software Team continues finished programming the Arduino and completed PCB design.
Week 17
(1/20/2020 - 1/24/2020
Team NRG's Mechanical Team finalized the design for the loading and unloading patty belts. Preparations for starting fabrication on week 18 were made.
Software Team continues to work on programming though the Arduino and test results thought bench top testing as well as construct connecting components.
Week 16
(1/13/2020 - 1/17/2020
Team NRG's Mechanical Team identified issues with initial design of powered scoop assist, the design was altered to rectify these issues. CAD and drafting models of the redesigned scoop assist were finished.
Software Team continues to work on motor control programming though the Arduino and test results thought bench top testing.
WEEK 15
(1/8/20-1/10/20)
Team NRG built a projected Gantt chart for the semester of spring 2020. Reworked scoop assist design from an unpowered follow along carriage to a power screw carriage with linear movement scoop assist.
Week 14
(11/29/19 - 12/5/19)
Week 13
(11/22/19 - 11/28/19)
Week 12
(11/15/19 - 11/21/19)
Week 12 was spent tying up loose ends in preparation for our Preliminary Design Presentation on December 6th. The PCB layout was finalized, animations completed, and electrical systems laid out. The draft of our final Prelim report was compiled for review on the 22nd and plans for our poster and presentation were created in preparation for December 6th.
Full SOLIDWORKS Assembly Drawing
Electrical Schematic and Preliminary PCB Design
Week 11
(11/8/19 - 11/14/19)
During Week 11, Team NRG finished all the CAD models as well as attached them together in an assembly using SOLIDWORKS. We finalized the electrical schematic, began design of the Printed Circuit Board (PCB), and finished a majority of the code necessary to making the robot function. We worked on animating the open loop dynamic system and added the mass parameters and moments of inertia necessary to produce values that were used to solve the equations of motion, forward, inverse, and velocity kinematics.
Week 11 was also the week we began ordering parts to assemble our system. The selected motors were purchased along with the hardware needed to control them. Voltage regulators were found that enabled us to run all of our additional electronics off of the FXYx's included power supply. An adapter to connect the Raspberry Pi 3B+ to the robot's RS232 serial interface was purchased and we began porting the code to the Pi.
Week 10
(11/1/19 - 11/7/19)
During Week 10, Team NRG worked on creating all the CAD models for the system and worked to further refine the electrical diagrams. For example, we had to rework the electrical diagram to include a Raspberry Pi 3 B+ and a servo for the end effector locking mechanism.
Week 9
(10/25/19 - 10/31/19)
Week 9 consisted of working on the symbolic equations for the Forward Kinematics, Velocity Kinematics, Inverse Kinematics, and the Equations of Motion of the robotic system. A motor, from Pololu Robotics, supplied with a 100:1 ratio gearbox and a encoder was chosen for the end effector of our system. similar motors without encoders were chosen to operate the patty moving belts.
We continued developing code to send commands to the YAMAHA FXYx and began a preliminary structure for the algorithm we would employ to tend to the burgers in our system. Lastly, a basic electrical schematic of the system was made to show how all the sensors and motors should work with the YAMAHA.
Week 8
(10/18/19 - 10/24/19)
Week 8 consisted of the team getting more familiar with our testing robot, the Yamaha FXYx. Symbolic equations were found for the Forward, Inverse, and Velocity kinematics; these will allow better modeling and path planning in the future.
We were provided a sample python code which demonstrated some of the functions of the FXYx.
Efforts were undertaken to translate the main functions of this code into C, a language better understood by all members of the team. We had success communicating with the robot using C late in the week, instructing the robot controller to activate the servo motors and return the robot carriage to the origin position.
Additionally, we gathered the necessary hardware from around the lab and assembled a more stable frame for the robot, as before it had been clamped to the bench only to keep it upright for measuring.
Week 7
(10/11/19 - 10/17/19)
This week, we finalized our Design Specifications based on feedback from our Specifications Presentation on Wednesday. On Friday, we were given our Preliminary Design Expectations and dates for our Report, Presentation, and Poster for the Preliminary Design Review Board.
We initially set out to fullfill several orders of business, first of which is a detailed CAD model of the robot, including a complete drawing package with fully dimensioned tolerances. Next are the forward and inverse Kinematics of the system using the Yamaha FXYx robot as a base. Lastly, a way to communicate with the robot by reading the datasheets and learning the code required to make the robot move without a direct human input.
WEEK 6
(10/4/19 - 10/10/19)
This week, we continued work on the specifications document and presentation. First, we came up with a solution to the contamination issue by designing multiple, detachable spatula end-effectors. The spatula is to attached to its drive shaft using a square drive and a spring loaded ball detent; a mechanism similar to that used by socket wrenches. This mechanism allows high torque loads to be transmitted to the spatula while also allowing the spatula to be attached and detached with relative ease. One spatula will be used to handle raw burger patties, another to handle cooking/cooked burger patties to prevent cross contamination.
We also attempted to find values for the coefficient of friction for a raw burger patties using two modes. The first was utilizing a spare sheet of stainless steel borrowed from the Machine Shop, in the Aerospace experimentation and fabrication building (AXFAB), with the second mode using a stainless steel spatula. Through our testing we found that the slots in the spatula are critical in handling raw patties, preventing them from sticking to the spatula. As a result we plan on making our "raw" spatula end-effector slotted, similar to the test spatula, to ensure consistent release of the raw patties.
WEEK 5
(9/27/19 - 10/03/19)
This week, we presented our team conceptual design to the class and started the specifications phase of our project. Following the requirements presentation, we were told what was needed for the specifications of each design requirement.
We started by first writing up all the design requirements on a whiteboard and listing possible specifications for each one; many of which were dependent on other specs. For instance, we had to first come up with basic properties of a burger patty to find dimensions of the loading/offloading belts and, the necessary motor torque to enable the end-effector to lift the patty.
We also had to consider how to deal with contamination, deciding to have multiple, detachable end-effectors; one for loading uncooked meat onto the grill, another to flip the burger and remove it from the grill.
Keegan's Conceptual Design Idea
Week 4
(9/20/19 - 9/26/19)
This week, we down selected our ideas utilizing decision matrices to determine which of the individual conceptual designs were the best fit going forward. This decision was split into two main categories: Robot Chassis Design and End-Effector Design. The Sawyer chassis was completely cut since the robot is not currently working, and we could not guarantee that it would be working by the time the design phase would be around. The weights of each category in the decision matrices were determined by taking the average of every group member's individual weight of that category.
The final decision for the chassis was determined to be the currently existing Yamaha FXYx Cartesian Manipulator based on the criteria of manufacturability, cost, complexity of design, how difficult the coding would be, and the scalability.
The final decision for the end effector was Keegan's conceptual design based upon the parameters of how easy it is to manufacture, how much the system would cost, the complexity of the design, how difficult the control law would be, and how well the end effector keeps the patty secure.
Week 3
(9/13/19 - 9/19/19)
This week each member was tasked with coming up with their own individual conceptual design that would fulfill the design requirements. The week was spent preparing the document and presenting to the class our ideas on how the system would work. Some designs used pre-existing systems provided in the Embry-Riddle Robotics Laboratory. Other team members decided it would be best to start from scratch and develop a specialized robot for the task.
Week 2
(9/06/19 - 9/12/19)
Week 2 began with the team hashing out the details of our design requirement and compiling our design requirements document. We spent many hours debating and revising the standards to which our robot will be held. The week was also spent revising and finalizing the team's document and presentation style guide.
Initial Design Ideas
(Start - 9/05/2019)
The tasks that were done throughout the week was come up with a team. Our team name was decided by the group to be Team NRG, or Next Robot Griller to best reflect what our goal for the system is: to be autonomously cook a burger. We also designated a team lead for Team NRG, worked on the style guide for both documents and Powerpoint presentations, and began work for the basic requirements of our system. The Team Lead of our project is Chris Allyas, who oversees all processes conducted during the project and signs off on all work done by the rest of the group. To start, we began to organize initial responsibilities for each group member as well as finalize some project documentation for the Style Guide documents. We also spent some time brainstorming ideas for how our robot or manipulator was to be designed.
The rough draft for the style guides, both for papers and presentations were turned into the professor. Lastly for the Requirements Document, we discussed, negotiated and came to an agreement on the requirements that dictated our robot's overall purpose. The document and presentation were started on the last day in preparation for the presentation in the next week.