Conservation of Angular Momentum Locomotion Robot (Fluffbot) - Revision history

NoahPentelovitch: /* Wheels */

2010-03-23T16:36:00Z

Wheels

← Older revision		Revision as of 11:36, 23 March 2010
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	==== Wheels ====		==== Wheels ====
	[[Image:RY_NP_TJ_Wheel_with_Bearing.jpg\|thumb\|right\|Wheel with Ball Bearing]]		[[Image:RY_NP_TJ_Wheel_with_Bearing.jpg\|thumb\|right\|Wheel with Ball Bearing]]
	The wheels we used were specially machined out of Aluminum 6061 to fit treaded rubber tires we found in the machine shop. Aluminum was used instead of preformed plastic wheels because we could precisely machine the wheels to fit the design of the Fluffbot, rather than needing to design the Fluffbot around the wheels we had available. The wheels were designed to fit ~~____~~ ball bearings. The ball bearings were press fit into the center of the wheel. We used ball bearings so that the wheels would spin with minimal friction and thus less energy would be required to move the Fluffbot. [[Media:Dimensioned_Drawing_of_Wheels.pdf\|Dimensioned Drawing of Wheels		The wheels we used were specially machined out of Aluminum 6061 to fit treaded rubber tires we found in the machine shop. Aluminum was used instead of preformed plastic wheels because we could precisely machine the wheels to fit the design of the Fluffbot, rather than needing to design the Fluffbot around the wheels we had available. The wheels were designed to fit open steel ball bearings, 1/4" ID, 7/8" OD, 1/4" thickness. The ball bearings were press fit into the center of the wheel. We used ball bearings so that the wheels would spin with minimal friction and thus less energy would be required to move the Fluffbot. [[Media:Dimensioned_Drawing_of_Wheels.pdf\|Dimensioned Drawing of Wheels
	]]		]]













	==== Battery and Electronics ====		==== Battery and Electronics ====

TylerJohnson: /* Results */

2010-03-18T19:32:13Z

Results

← Older revision		Revision as of 14:32, 18 March 2010
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	== Results ==		== Results ==

	Overall, ~~the~~ ~~robotic~~ ~~snake was~~ ~~successful~~.		Overall, Fluffbot was a success.

	Initially, the mechanical design included a single wheel mounted in the center of the pvc pipe. However, the motion of the snake was very difficult to control because the robotic snake became unstable very easily. As a result, the chassis was built to include two wheels, as discussed in the mechanical design section, in order to provide stability which made the robot easier to control.

	Wireless control from a laptop allowed easy demonstration of the snakes capabilities, and allowed others to easily control its movement.

	The final robotic snake can be seen in action here.

	[http://www.youtube.com/watch?v=Sb8WqaLX1Vo Video of the robot snake without housing]

	[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake with housing]

			Calibrating Fluffbot's front wheel to the proper steering took some fine tuning, but once it was oriented properly, the robot was easily controllable.

			Wireless control from a processing GUI, made steering and adjusting the motion style quite easy.

			Video of Fluffbot in action can be seen by following the links at the top of the page.

	== Next Steps ==		== Next Steps ==

RenYu: /* References */

2010-03-18T17:12:39Z

References

← Older revision		Revision as of 12:12, 18 March 2010
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	==== Housing ====		==== Housing ====
	The Fluffbot does not currently have a housing that protects the electronics on the chassis. A housing would allow for easy attachment and detachment of various animal shells and would also prevent the stuffed animals from contacting the hot electronics and making them heat up even faster. Air vents could also be added to the housing to allow for heat to dissipate from the electronics.		The Fluffbot does not currently have a housing that protects the electronics on the chassis. A housing would allow for easy attachment and detachment of various animal shells and would also prevent the stuffed animals from contacting the hot electronics and making them heat up even faster. Air vents could also be added to the housing to allow for heat to dissipate from the electronics.

	== References ==

	Ma, Shugen. "Analysis of creeping locomotion of a snake-like robot." ''Advanced Robotics'' Vol 15, No 2 (2001): 205-6.

	Saito, Fukaya, Iwasaki. "Serpentine Locomotion with Robotic Snakes". ''IEEE Control Systems Magazine'' (Feb 2002): 66, 72-73.

RenYu: /* Overview */

2010-03-18T17:11:58Z

Overview

← Older revision		Revision as of 12:11, 18 March 2010
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	Some videos:		Some videos:

	[http://www.youtube.com/watch?v=~~fzAgX4L4gHU~~ Fluffbot ~~bottom~~ ~~view~~ of ~~momentum and steering wheel~~]		[http://www.youtube.com/watch?v=jAqSzvoKiLE Fluffbot with seal casing 1]

		⚫	[http://www.youtube.com/watch?v=utZnFJuoLag Fluffbot seal-on-land]

	[http://www.youtube.com/watch?v=BIMgh9eEPQ4 Fluffbot seal-in-water]		[http://www.youtube.com/watch?v=BIMgh9eEPQ4 Fluffbot seal-in-water]
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	[http://www.youtube.com/watch?v=-XoxQAQtva4 Fluffbot seal-on-land reverse]		[http://www.youtube.com/watch?v=-XoxQAQtva4 Fluffbot seal-on-land reverse]

	[http://www.youtube.com/watch?v=~~utZnFJuoLag~~ Fluffbot ~~seal-on-land~~]		[http://www.youtube.com/watch?v=fzAgX4L4gHU Fluffbot bottom view of momentum and steering wheel]

⚫	[http://www.youtube.com/watch?v=~~jAqSzvoKiLE~~ Fluffbot ~~with~~ seal ~~casing 1~~]

	[http://www.youtube.com/watch?v=3X7MnW4_8FM Fluffbot with seal casing 2]		[http://www.youtube.com/watch?v=3X7MnW4_8FM Fluffbot with seal casing 2]

RenYu: /* Overview */

2010-03-18T17:09:41Z

Overview

@@ Line 3: / Line 3: @@
 == Overview ==
 Flufbot uses conservation of angular momentum to move forward or backward, by controlling the acceleration of a momentum wheel and the angle of a steering wheel.
 ==Team Members==

WilliamFan: /* Electronics */

2010-03-18T06:28:23Z

Electronics

← Older revision		Revision as of 01:28, 18 March 2010
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	====Electronics At Computer====		====Electronics At Computer====
	The second XBee Interface Board is connected to a computer using the RS232 cable. This enables the user to communicate wirelessly in real-time to the Fluffbot.		The second XBee Interface Board is connected to a computer using the RS232 cable. This enables the user to communicate wirelessly in real-time to the Fluffbot.






	== Code ==		== Code ==

NoahPentelovitch: /* Mechanical Design */

2010-03-18T04:44:38Z

Mechanical Design

← Older revision		Revision as of 23:44, 17 March 2010
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	The Futaba RC servo used for steering the front wheel was held in place by the servo-shaft coupler and by two pieces of acrylic. The servo was light enough that it could be supported by only the coupler. Two vertical pieces of acrylic prevented the servo from rotating as it turned the front wheel. A small piece of electrical tape kept the servo from backing off of the coupler while Fluffbot was operating. [[Media:Dimensioned_Drawing_of_Steering_Fork.pdf\|Dimensioned Drawing of Steering Fork]]		The Futaba RC servo used for steering the front wheel was held in place by the servo-shaft coupler and by two pieces of acrylic. The servo was light enough that it could be supported by only the coupler. Two vertical pieces of acrylic prevented the servo from rotating as it turned the front wheel. A small piece of electrical tape kept the servo from backing off of the coupler while Fluffbot was operating. [[Media:Dimensioned_Drawing_of_Steering_Fork.pdf\|Dimensioned Drawing of Steering Fork]]

NoahPentelovitch: /* Mechanical Design */

2010-03-18T04:43:34Z

Mechanical Design

@@ Line 73: / Line 73: @@
 The Futaba RC servo used for steering the front wheel was held in place by the servo-shaft coupler and by two pieces of acrylic. The servo was light enough that it could be supported by only the coupler. Two vertical pieces of acrylic prevented the servo from rotating as it turned the front wheel. A small piece of electrical tape kept the servo from backing off of the coupler while Fluffbot was operating. [[Media:Dimensioned_Drawing_of_Steering_Fork.pdf|Dimensioned Drawing of Steering Fork]]
 ==== Momentum Wheel ====
@@ Line 136: / Line 143: @@
 '''Servo comes loose from servo coupler:''' Machine a set screw hole through the part of the coupler connecting to the servo and add a set screw to keep the servo in place
 == Electronics ==

NoahPentelovitch: /* Steering Assembly */

2010-03-18T04:43:03Z

Steering Assembly

@@ Line 63: / Line 63: @@
 The base of the chassis is made from a sheet of 1/4 inch clear Acrylic. It needed to be large enough to hold the motors, two batteries, and two circuit boards. In order to reduce the weight of the design, the base was cut into a triangle with wheels to be placed at each corner. Four small holes were cut at the front and at the middle of the base to allow the motor to be secured, and one larger hole was cut for a bearing to be pressed into place for the front steering wheel. [[Media:Dimensioned_Drawing_of_Chassis.pdf|Dimensioned Drawing of Chassis]]
 ==== Steering Assembly ====
@@ Line 71: / Line 73: @@
 The Futaba RC servo used for steering the front wheel was held in place by the servo-shaft coupler and by two pieces of acrylic. The servo was light enough that it could be supported by only the coupler. Two vertical pieces of acrylic prevented the servo from rotating as it turned the front wheel. A small piece of electrical tape kept the servo from backing off of the coupler while Fluffbot was operating. [[Media:Dimensioned_Drawing_of_Steering_Fork.pdf|Dimensioned Drawing of Steering Fork]]
 ==== Momentum Wheel ====

NoahPentelovitch: /* Next Steps */

2010-03-18T04:41:42Z

Next Steps

← Older revision		Revision as of 23:41, 17 March 2010
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	[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake with housing]		[http://www.youtube.com/watch?v=r_GOOFLnI6w Video of the robot snake with housing]




	== Next Steps ==		== Next Steps ==