NASA Lunabotics Competition BP-1 Excavating Autonomous Rover Evan - - PowerPoint PPT Presentation

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NASA Lunabotics Competition BP-1 Excavating Autonomous Rover Evan - - PowerPoint PPT Presentation

Apr 12, 2024 154 likes •465 views

NASA Lunabotics Competition BP-1 Excavating Autonomous Rover Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel Greenberg Dr. Ramesh Varahamurti Team Members and Faculty Advisor Team Members (From Left to Right) Ross

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SLIDE 1

NASA Lunabotics Competition BP-1 Excavating Autonomous Rover

Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel Greenberg

  • Dr. Ramesh Varahamurti
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SLIDE 2

Team Members and Faculty Advisor

NASA Lunabotics Competition

Ross “Botsauce” Bailey Andrew “TT Showbiz” Bolton Evan “Christmas” Carroll Ben “Magic Beard” Bennett Nathaniel “Jazz Hands” Greenberg Nalin “Rampage” Randeniya

Team Members

(From Left to Right)

Faculty Advisor

  • Dr. Ramesh “The Hurricane”

Varahamurti

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Industrial Sponsors

NASA Lunabotics Competition

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Background

NASA Lunabotics Competition

Excavation is a necessary first step in living off

  • f the land
  • Oxygen extraction
  • Habitat foundation

New concepts for excavation technologies needed

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Background

NASA Lunabotics Competition

LunArena

  • 10 minute run
  • Minimum of 10 kg
  • Rocks and craters
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SLIDE 6

Problem Definition

NASA Lunabotics Competition

Requirement Engineering Specification Metric Method/Device Target Condition Lightweight Vehicle Mass kg Scale < 80 kg Inclusive of all parts Compact Size m Tape Measure < 1.5m x .75m x .75m Starting Footprint Amount of BP-1 mined Mass kg Scale > 10 kg During 10 min Communications Average Bandwith kb/sec Bandwidth Test Software

  • 1/50 kb/sec

As minimal as possible Set-up Time min Stopwatch < 10 min By trained team members Removal Time min Stopwatch < 10 min By trained team members

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SLIDE 7

Design Solution

NASA Lunabotics Competition

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SLIDE 8

Design Solution

NASA Lunabotics Competition

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SLIDE 9

Design Solution

NASA Lunabotics Competition

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SLIDE 10

Design Solution

NASA Lunabotics Competition

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Autonomous Control

NASA Lunabotics Competition

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Fabrication

NASA Lunabotics Competition

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Testing

NASA Lunabotics Competition

  • Emergency Stop button – As a requirement

ø > 5 cm

  • Maneuverability and Mining capability
  • 10 kg BP-1 collection capability Targets
  • Dust reduction – Bonus points
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SLIDE 14

Testing

NASA Lunabotics Competition

List of Experimental Tests

  • 1. Set-up and Power-up
  • 2. E-Stop Verify
  • 3. Maneuverability and Digging Controls
  • 4. 10 kg Remote Trial Run
  • 5. Dust Mitigation
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SLIDE 15

Testing

NASA Lunabotics Competition

E-stop Verification Test

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Testing

NASA Lunabotics Competition

Maneuverability and Digging Controls

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Testing

NASA Lunabotics Competition

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Testing

NASA Lunabotics Competition

10 kg Sand Collection Trial Run

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Testing

NASA Lunabotics Competition

Dust Mitigation

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Testing

NASA Lunabotics Competition

Results Review

TEST STATUS

Set-up and Power-up Successful E-Stop Verification Reliable Maneuverability and Digging Controls Smooth and Accurate 10 kg Sand Collection within 10 minutes Achieved Dust Mitigation Satisfactory

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SLIDE 21

Sources of Funding: Industrial Sponsor – NASA Mission Directorate_______ $ 3,000.00 Donations – Total Donations_______________________$1,250.00 Sponsors – Transfer Flow A Main Hobbies Galil Dimension Engineering Royal Printing Total Material Donated___________________$ 2,803.68 Donated Labor – Transfer Flow

  • Manufacturing: The Frame

The Lever Arm The Wheels Estimated hour of donated labor/ Approx. employee wage ~ 45 hrs x $40/hr = ________________________$1800.00

Final Budget

NASA Lunabotics Competition

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SLIDE 22

Final Budget

NASA Lunabotics Competition

Receipt Number Date Purchased Supplier Part Number Part Description Quantity Cost Each Subtotal Total

0024469251905 2209 1/18/2012 Amazon.com B000N9PJ7W Seachoice ATO / ATC Fuse Block 10 Gang 1 17.49 17.49 17.49 0024469251905 2209 1/18/2012 Amazon.com VPATC30 Bussmann VP/ATC-30 30 Amp Faast Acting Blade Fuse, 1 6.73 6.73 6.73 3810568190118 2012 1/18/12 Orchard Supply Hardwear 000003069927651 6 MCH SCR-RND 8-32x1 1 0.99 0.99 1.06 3810568190118 2012 1/18/12 Orchard Supply Hardwear 000003900810170 9 EXT SPRING 2-3/8" 2 2.29 4.58 4.91 3810568190118 2012 1/18/12 Orchard Supply Hardwear 000003861314625 9 2-1/2" ZN LT NAR B 1 3.19 3.19 3.42 3810568190118 2012 1/18/12 Orchard Supply Hardwear 000003900303011 1" OD LEG TIP 1 1.99 1.99 2.13 0381026902011 72012 1/17/12 Orchard Supply Hardwear 000064873841473 9 T-10 TORX DRIVER 1 3.99 3.99 4.28 0381026902011 72012 1/17/12 Orchard Supply Hardwear 000003069918512 2 MCH SCR-RND 8-32x2 1 3.49 3.49 3.74 0381026902011 72012 1/17/12 Orchard Supply Hardwear 000003069918512 2 HEX MACH NUT 8-32 1 2.99 2.99 3.21 0381026902011 72012 1/17/12 Orchard Supply Hardwear 000003069919802 3 WASHER SAE #8 ZINC 1 1.99 1.99 2.13 495349 1/4/12 All Metals Supply FL460-184 6061-T6 1/8 x 4 FLAT ALUMINUM 8 3.14 25.13 26.95 495349 1/4/12 All Metals Supply ST480-WW065 6061-T6 1 x 1x .065 SQ TUBE ALUMINUM 20 1.19 23.73 25.45

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SLIDE 23

Final Budget

NASA Lunabotics Competition

Receipt Number Date Purchased Supplier Part Number Part Description Quantity Cost Each Subtotal Total

Donated 1/25/12 A Main Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00 Donated 1/25/12 A Main Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00 Donated 1/25/12 A Main Hobbies LOSB3227 Wheel Nuts, Blue Anodized (4) 1 13.49 13.49 0.00 Donated 1/25/12 A Main Hobbies LOSB7028 Beadlock Set, Inner & Outer (2) 1 11.75 11.75 0.00 Donated 1/25/12 A Main Hobbies LOSB3224 Fr/R Stub Axle & Pins (1) 1 16.49 16.49 0.00 Home Depot Bosch DDS180-02 1 170.9 9 170.99 170.99 Amazon.com Bosch DDS180-02 3 159.9 9 479.97 479.97 16837190 2/1/12 McMaster Carr 5912k4 Aluminum Bronze Bearing 1/2 Diameter 4 11.11 44.44 52.53 2/4/12 Dimension Engineering Sabertooth 2X25 Sabertooth dual 25A motor driver 3 124.9 9 374.97 0.00 38103602402172012 2/17/12 Orchard Supply Hardwear 6435994 ALUMINUM ROUND RD 1 11.49 11.49 12.32 03810295800204201 2 2/4/12 Orchard Supply Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75 03810295800204201 2 2/4/12 Orchard Supply Hardwear 614121130487 1/2 ALUMINUM ROD 1 4.79 4.79 5.14 03810295800204201 2 2/4/12 Orchard Supply Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75 03810113540204201 2 2/4/12 Orchard Supply Hardwear 39008215574 RBR WASH 5/8X2X1/8 4 1.19 4.76 5.11 Donated 2/23/12 A Main Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00 Donated 2/23/12 A Main Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00 Donated 2/23/12 A Main Hobbies LOSB7027 Wheel and Beadlock Set (2) 2 30.99 61.98 0.00 A Main

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Final Budget

NASA Lunabotics Competition

Receipt Number Date Purchased Supplier Part Number Part Description Quantit y Cost Each Subtota l Total C-1203-S1593 3/16/12 STOCK DRIVE PRODUCTS A 1C 2- N24144 GEAR SP.24P.ST. 6inDP(US) 2 56.98 113.96 122.55 C-1203-S1593 3/16/12 STOCK DRIVE PRODUCTS A 1C 2N24012 GEAR SP.24P.ST. 0.5in DP(US) 2 9.80 19.60 28.10 20948590 3/19/12 McMaster Carr 2737T1 Steel Finished-Bore Roller Chain Sprocket, for #25 Chain, 1/4" Pitch, 9 Teeth, 1/4" Bore 1 5.61 5.61 8.53 20948590 3/19/12 McMaster Carr 2737T151 Steel Finished-Bore Roller Chain Sprocket, for #25 Chain, 1/4" Pitch, 23 Teeth, 1/4" Bore 1 7.80 7.80 10.72 24463834 4/23/12 McMaster Carr 91251A359 Black-Oxide Alloy Steel Socket Head Cap Screw,10-32 Thread, 2-3/4" Length, Packs of 10 1 13.89 13.89 14.90 24463834 4/23/12 McMaster Carr 8632T132 D-Profile Shaft, 1045 Steel, 1/4" OD, 6" Length 1 6.64 6.64 7.12 24463834 4/23/12 McMaster Carr 6261K108 #25 Connecting Link for, Standard ANSI Roller Chain 4 0.96 3.84 4.12 Donated Galil DMC-2183 Galil Motion Controller 1 1595.00 1595.00 0.00 Galil ICM-20105 Interconnect with Optoisolated I/O 2 195.00 390.00 0.00 Arduino ATmega328 Arduino Uno Microcontroller 1 38.00 38.00 0.00 Microsoft Microsoft XBOX Kinect Sensor 1 129.99 129.99 0.00 NTC SPST RELAY 2 0.00 0.00 24598862 4/24/2012 McMaster Carr 8510K14 SBR Rubber Edge Trim, 3/32" Opening, 21/64" Inside Depth. 25 0.42 10.50 11.26 24598862 4/24/2012 McMaster Carr 5542T85 Push-on Corner Cap, fits 1/8" to 3/16" Thickness, Black 16 0.42 6.72 7.21 24598862 4/24/2012 McMaster Carr N/A Shipping Expense 1 5.53 5.53 5.93 381067178042120 00 4/21/2012 Orchard Supply Hardwear 30699192427 NYLN LKNT 8-32 1 4.99 4.99 4.99 381067178042120 00 4/21/2012 Orchard Supply Hardwear 30699276226 MCH SCR-RD 8-32x1 1 2.79 2.79 2.79 6609584205904 4/14/2012 The Home Depot 726941107010 .093-18x24 LEXAN XL 1 19.98 19.98 21.43 6609584205904 4/20/2012 The Home Depot 786102105002 HONDA FILTER 2 9.97 19.94 21.39 6609584205904 4/20/2012 The Home Depot 076812402011 HACKSAW 1 5.47 5.47 5.87 66095833801 4/20/2012 The Home Depot 726941107010 .093-18x24 LEXAN XL 1 19.98 19.98 21.43

Total Cost of Robot :

$ 1,519.09

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SLIDE 25

Final Budget

NASA Lunabotics Competition

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Final Budget

NASA Lunabotics Competition

Labor:

Semester Total Man Hours Average Engineering Wage Amount Fall 1271 $40/hr $ 50,840.00 Spring 1632 $40/hr $ 65,280.00

Total: $ 116,120.00

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Final Budget

NASA Lunabotics Competition

Total Project Cost Estimate: $ 121,028.55

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Reflection

NASA Lunabotics Competition

  • Unique Problems encountered
  • Drill Motors were a challenge to mount
  • Tolerances on shafts, bearings, and

couplers

  • Merits of the Design Solution
  • Drill Motors, Custom Wheels, Battery

Counterweight, and Simple Design

  • Suggestions for the future
  • Suspension and Steering
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Conclusion

NASA Lunabotics Competition

  • Special Thanks to Mike Lorroco
  • Ready for Competition!
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Questions?

NASA Lunabotics Competition