NU MECH_ENG 224 - FINAL PROJECT REPORT (22 pages)

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FINAL PROJECT REPORT



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FINAL PROJECT REPORT

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Pages:
22
School:
Northwestern University
Course:
Mech_Eng 224 - Experimental Engineering
Experimental Engineering Documents

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FINAL PROJECT REPORT Mechanical Engineering 224 Professor Espinosa June 9 2005 Kendra Armstrong Nick Eccles Cary Maguire Alex Taam Paul Williams Table of Contents I Introduction II Boe Bot Assembly III Servo Calibration IV Gyroscope Calibration V Analog to Digital Converter VI Programming and Debugging VII Results and Conclusions VIII Improvements and Future Considerations IX Appendix A Servo Calibration Program X Appendix B LabView Program for Gyroscope Calibration XI Appendix C Turn Test Program XII Appendix D Final Path Program 2 I Introduction The objective of this project is to use our knowledge acquired in Mechanical Engineering 224 to control a Boe Bot along a specified path Figure 1 Robot Path using gyroscope sensing in a closed loop feedback system see figure 1 The Boe Bot robot is mainly composed of two servo motors to operate the wheels and a Board of Education carrier board which is controlled by a program called BASIC Stamp Specifically we will create a BASIC Stamp program that will use a specified voltage which corresponds to a certain angular velocity to control the direction of travel of the Boe Bot Then using closed loop feedback from a gyroscope and ADC Analog to Digital Converter the Boe Bot will correct itself to travel in a completely straight line 3 II Boe Bot Assembly Figure 2 Boe Bot Our Boe Bot was brand new therefore unassembled First we attached the four standoffs to the four corners of the chassis The standoffs support the Board of Education from which the Boe Bot runs After centering the Parallax Continuous Rotation servos we attached the servos to the chassis using Philips screws and nuts We then attached our power source the battery pack to the underside of the chassis After that we attached the tail wheel ball and high quality rubber band tires Lastly we connected the Board of Education onto the four standoffs with the breadboard closest to the drive wheels And the Boe Bot was born See figure 2 for a photo of an assembled Boe Bot 4



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