NameDescriptionWhile Loading/UnloadingTotalTotalFigure 3.3.2.3.2.b: Multiple PWM Signal Staggering2006 IEEE SouthEastCon Robotics Competition Design Document submitted to: Dr. James Harden ECE 4532/4512 : Senior Design I Department of Electrical and Computer Engineering 413 Hardy Road, Box 9571 Mississippi State University Mississippi State, Mississippi 39762 May 4, 2006 prepared by: R. Bhakta, K. Cullen, V. Alfaro, R. Stranghoener, M. Lindsey, R. Owen, S. Reid, B. Nichols Faculty Advisor: Dr. Robert Reese Department of Electrical and Computer Engineering Mississippi State University 413 Hardy Road, Box 9571 Mississippi State, Mississippi 39762 1Executive Summary FedEx has provided a challenge for the IEEE SoutheastCon 2006 Competition. The task is to design an autonomous package-loading robot that will barcode scan, collect, and deliver a total of 12 packages to three airplanes before departure. The first plane will depart in three minutes, the second in four minutes, and the third in five minutes. The challenge will be simulated using plywood for the airplane loading area, a FedEx triangular shipping tube for the package chute, cardboard boxes for airplanes, and wooden blocks for the packages. Universities from across the Southeast will be competing to determine who can create the best robot. The winner will be determined by three rounds of competition scored on speed and accuracy of package delivery. Mississippi State University’s SECon team has designed a robot that quickly and effectively completes the task. The robot adheres to SoutheastCon’s starting size requirements of 8” x 8” x 12” and avoids added complexity by only extending one arm for package retrieval. Despite its lack of expansion, the robot is able to collect, sort, and store all 12 packages during a single visit to the chute. This approach requires only 1/12th of the delivery time needed for a single-block collection approach without adding a significant amount of loading and sorting time. By stacking the packages externally for storage, each plane’s packages can be unloaded in a single action. This unloading approach requires 1/4th of the time needed for a single-block delivery system. The robot has been tested on a plywood playing field built to SECon’s specifications. Numerous package orderings were tested for the chute to ensure the robot’s ability to handle any sequence of package collection. Figure 1 below shows the playing field and the robot. Thorough navigation simulations have been conducted to guarantee that the locomotion software can reliably deliver the robot to each loading and unloading station. Due to the nature of the SECon competition, reliability is the keystone to the robot’s success. Victory hinges on the ability to complete the task successfully in three consecutive attempts. In order to achieve the necessary reliability, power conservation is extremely important to ensure all motors and circuitry function properly throughout an entire round. To conserve power, the robot disables motors, servos, and the barcode scanner when they are not in use. Figure 1: Playing Field and Robot A first place victory at SoutheastCon 2006 in Memphis on March 30th would bring deserved recognition and praise to the dedicated faculty and students of the electrical and computer engineering department of Mississippi State University. 2Table of Contents 1 Problem Statement………………………………………………………………………… 8 1.1 Historical Information………………………………………………..…………………... 8 1.2 Problem Definition: Rules, Regulations, and Design Constraints………………….…….. 8 1.3 Competitive Analysis…………………………………………………………………..…. 9 1.4 Implications of Success…………………………………………...……………………... 10 2. Design Constraints………………………………………………………………………. 10 2.1 Technical Design Constraints…………………….…………………………..……….… 10 2.1.1 Dimensions…………………….……………………….……………………………… 10 2.1.2 Navigation…………………….……………………….………………………………. 11 2.1.3 Speed…………………….……………………….……………………………………. 11 2.1.4 Package Identification and Manipulation………………………….…………………... 11 2.1.5 Weight…………………….……………………….…………………………………... 11 2.1.6 Power…………………….……………………….……………………………………. 12 2.2 Practical Constraints…………………….……………………….………………………. 12 2.2.1 Cost…………………….……………………….………………………………………13 2.2.2 Health and Safety…………………….……………………….……………………….. 13 2.2.3 Ethical…………………….……………………….…………………………………… 13 2.2.4 Reliability and Repeatability…………………….…………………….………………. 13 2.2.5 Environmental…………………….……………………….…………………………... 14 3. Approach…………………….……………………….…………………………………. 14 3.1 Functional Overview…………………….……………………….……………………… 14 3.2 Hardware…………………….……………………….………………………………….. 14 3.2.1 Mechanical Approach…………………….……………………….…………………… 14 3.2.1.1 Dump Truck…………………….……………………….……………………………15 3.2.1.2 Pentagon…………………….……………………….………………………………. 17 3.2.1.3 Three-Chute Design…………………….……………………….…………………… 20 3.2.2 Upper Base…………………….……………………….……………………………… 25 3.2.2.1 Turntable…………………….……………………….……………………………… 26 3.2.2.2 Turntable
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