Design Expo and Grading Guide

Here are links to some of the posts, which include everything required for the blog:


Initial Blog Post:

• Here

SolidWorks models and Assemblies:

• Finished Assembly with Motion
• Initial Assembly
• First Draft of Mounting Bracket

Arduino and Processing Code:

• "Final" Codes
• Draft Stair Climbing Code
• Draft Lifting Code and Video of this Code

Prototype Fabrication:

• Comprehensive Guide
• Mounting Bracket Discussion
• First Structural Prototype

Success/Failure of Prototype:

A month ago we set out to achieve the following goals:

• Move in a predetermined path
• Lift up (Climb stairs)
• Carry a drink without spilling

Our robot can currently lift up, climb stairs, and carry a beverage without spilling. While it cannot move in a predetermined path, it can be remote controlled, which was one of our reach goals. Ultimately, I would deem our work a success because we achieved these three goals. True there are still some glitches, it will periodically refuses to lift, it is tethered to an outlet since the batteries do not supply enough current, and we did not purchase a Bluetooth receiver to make the remote control wireless. All in all though, for a prototype of a prototype it is quite impressive that it can do at least what we set out to do.

The Future:

Moving forward we would like to:

• Create an acrylic body
• Set-up the control interface so that the robot has both remote control and autonomous functionality
• Build a system to automatically load and unload the robot

Competition Day: Prototype

Summary: Description of finished prototype.

Presenting ButlerBot...

The dual cup holder it cut out of three 1 in layers of Styrofoam.  The inner circle can hold an average size cup and is 2 in deep. The outer circle, meant for bowls is 1 in.

The body is made out of foam core board and cardboard tubes, which were hot glued together. The racks, and gears were all laser cut out of acrylic based on out SolidWorks models.

ButlerBot climbs stairs using four legs, raised and lowered by a rack and pinion. The front and rear legs are paired and controlled by a single 12V stepper motor each.

The outer gears that pair with the racks are driven internally by two additional gears to join the motors to the shaft.

Butlerbot is front wheel drive and steers by commanding the left and right motors to operate in opposite directions. The 3V motors are set up with a gearbox providing a ratio of 114:1.

It is equipped with 8 AA batteries (providing 12V), but during the presentation we will be using a 12V power adapter to avoid draining batteries, and to provide a bit more current.

Competition Day:SolidWorks

Summary: Description of our comprehensive SolidWorks file

The entire prototype has been modeled accurately in SolidWorks, see the above animation.

Competition Day: Controls

Summary: Description of finished robot controls.

Timing the controls to be automated is creating issues because the batteries and being drained, and therefore slowing down the motors, and changing the timing.

To combat this instead of Butlerbot controlling himself, he can be controlled over the USB cable via a computer. This requires two codes: one that runs on the arduino board and operates the motors based on what it receives, and another that runs through Processing on the computer to send the inputs.

In terms of a power system, we should plan on plugging it into the wall with our 12V 850mA adapter, instead of the batteries, simply because the extra boost allows it to climb more smoothly.

Keyboard control layout is:

WASD keys control the general movement, with QE to provide minor adjustments to it alignment.

YUI make the robot lift on the racks, HJK make the robot lower, and NM"," releases the stepper motors.

It has three travel speeds: 10, 20, and 30 that are keyed in by the number pad.

Full Arduino Code:

***********************************************

//Includes libraries

#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Full Group Meeting (12/03) - Finishing Touches

With tonight being the night before the competition, quite a bit of work was done to ensure a successful and demo-ready finished product. Michael wrote a program to provide a WASD-based control mechanism for Butlerbot's movement.

Jesse worked extensively on the assembly to remove several conflicts with faulty mates and to finish the comprehensive Solidworks assembly. A poster was made to provide an informative visual frame for Butlerbot's concept and direction. In addition to the poster, the submitted PowerPoint was modified and a script was written for tomorrow's presentation session.

Pictures and videos to be added later today.

Update: A.L.F.R.E.D Nearing Completion

Summary: Nearing completion.

A.L.F.R.E.D. (Automated, Liquid Fetching, Roving, & Electronic Device) is nearing completion, only coding and a little bit of tinkering left.

The lifting mechanism needs to be modified to better secure the racks, but it does work sometimes:

(Sorry for the poor quality, but uploading was slow...)

 We still need to:

• Finalize code
• Fix/Re-mount rear wheels
• Make a poster? (I have a Trifold if we want it)