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ROBOTIC HORIZONSRLEP 2008-2009

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Conceptual Design

Function Method (Options Available)

Launch Electromagnetic Launcher Catapult Telescoping Arm R/C Vehicle

(Wheels)R/C

Vehicle (Tracks)

Retrieve Cable Vehicle Telescoping Arm Deployment (set up)

(storage) Self Contained Assembly

Loading (Re-loading) Mechanical Magazine(Spring)

Magazine (Gravity)

Aim-controls Stepper Motor / Microcontroller Trajectory Spring Tension

Target Acquisition Pre-programmed points User aim by range/direction Pattern

Launch Distance Electrical Mechanical (Spring)

Guidance Sensors Laser Range Finder Baseline Zeroing

Communication Wireless Wired (Umbilical)

• Function column lists the major capabilities desired for the final design. • Rows depict options investigated for satisfying each capability.• Cells highlighted in green show options recommended for integration into final

design

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Conceptual Design• Methods of launching considered• Catapult• Electro-magnetic

Launcher (EML)• Sling• Telescoping Arm• Radio-Controlled vehicle

Catapult

EML

Radio-Controlled Vehicle

Sling

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System Overview

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Control System

Rabbit Microcontroller RCM5400W Dynamic C® integrated

development environment

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Control System• Overview of the control

system logic that we are designing.

• Depicts a high level abstraction of the processor operation.

• Target Input, Initialization, Fire/Retrieve, etc. will be contained in individual subroutines

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Bearing Control SystemNema Stepper Motor

23 370 oz/in #RS23-370

Connection: Unipolar

Phase: 2 Phase

Step Angle: 1.8 +/- 5%

Voltage: 2.7 Volts

Current: 3.5 A/phase

Resistance: 0.76 +/- ohm/phase

Inductance: 1.65 +/- 20% mH/phase

Holding Torque: 300 oz/in (208 N.cm)

Insulation: Class B (90 deg C)

Lead Style: FF46-1/0.5

No. of Leads: 8

Weight: 2.8 lbs

Large-Diameter Ring-Style Turntable

• Aluminum• 175 lb Capacity• .48" Height

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Bearing Control System

Geckodrive Step Motor Drive• G201

Supply Voltage: 24 to 80 VDC

Phase Current: 1 to 7 Amps

Size: 2.5”W, 2.5”D, .85”H

Mounting Pattern: 4 6-32 screws

Quiescent Current: 15 mA or less

Weight: 3.6 oz. (100 gm)

Step Frequency: 0 to 200 kHz

Temp: 0 to 70 C

Power Dissipation: 1 to 18 W

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Power Supply System• Power is supplied to the launcher

via a bay of 4-8 Lithium Ion battery packs sourced from Inspired Energy

• Currently Inspired Energy model NL2024 battery packs are utilized

• Inspired Energy XP-08S and XP-04S battery management modules are being investigated to repair / replace the inoperable system presently in place

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Catapult

• Based on medieval siege weapon and modernized for our purposes

• Reliable, robust design for strength and durability

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Retrieval / Loading System

• Ramp system guides incoming payload back into the catapult cup.

• Current design accounts for only one payload but allows for future work to incorporate multiple sensors.

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Parts List

• Catapult frame construction: Material to be chosen based on further prototype testing of strength requirements and system weight restrictions.

• Spring to be used for launching force.

• Separate DC motors to be used for retrieval payload and tension catapult arm. Intent to minimize drag on payload with use of a light duty motor for retrieval.

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Budget

Date Ordered Description Quantity Price Running Total

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

$6,000.00

11/17/2008 McMaster ball bearing for Sling Proto 1 1 $10.21 $5,989.79

11/20/2008 Assorted Hardware for Emag Proto 1 $44.01 $5,945.78

11/21/2008 3d Printing of the Sling 1 $171.80 $5,773.98

12/10/2008 RCM4100 RabbitCore Development Kit 1 $229.00 $5,544.98

12/10/2008 Laser 6 75 MHz Transmitter 1 $142.98 $5,402.00

1/16/2009 Pelican 1600 Protector Case 1 $165.00 $5,237.00

1/27/2009 BP- 033R Backplane, Single 5.00mm 5 Position Header 8 $152.00 $5,085.00

1/27/2009 Combination Backplane Connector & Cable 24” 5 Position Header 4 $59.84 $5,025.16

1/27/2009 XP- 08s Mini Battery Management Module 1 $1,195.70 $3,829.46

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Schedule

Milestones• Functioning prototype

• 24 Feb

• Testing • 24 Feb – 10 Mar

• Finalization of product• 10 Mar – 16 May• Eng Expo: 1 May

• Documentation• 24 Apr – 16 May