Difference between revisions of "Mike Grauer's Final Project Report for Bio Inspired Robots Fall 2006"

From GICL Wiki
Jump to: navigation, search
(first entry, intro with physical video and simulation video)
 
(Physical Assembly)
Line 16: Line 16:
  
 
== Physical Assembly ==
 
== Physical Assembly ==
 +
 +
The table belows lists the Bill of Materials for the disposable camera:
 +
 +
{| border="1" align="center"
 +
|+ '''Table 3.1: Disposable Camera Bill of Materials'''
 +
! width="50"|Part # !! width="100"|Part Name !! width="50"|# Req'd !! width="120"|Mat'l !! width="145"| Manufacturing Process !! width="100"|Image
 +
|-
 +
! 1
 +
| align="center"|Back Interior
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera back interior.JPG |center|thumb|50px]]
 +
|-
 +
! 2
 +
|align="center"|Back Plastic Cover
 +
| align="center"|1
 +
|align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| align="center"|[[Image:Camera Back Exterior Cover.JPG|center|thumb|50px]]
 +
|-
 +
! 3
 +
|align="center"|Camshaft
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Camshaft.JPG |center|thumb|50px]]
 +
|-
 +
! 4
 +
|align="center"|Eyehole for Shutter
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Eyehole.JPG |center|thumb|50px]]
 +
|-
 +
! 5
 +
|align="center"|Film Advance Gear
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Film Advance.JPG |center|thumb|50px]]
 +
|-
 +
! 6
 +
|align="center"|Film Advance Lock
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Advance Lock.JPG|center|thumb|50px]]
 +
|-
 +
! 7
 +
|align="center"|Film Canister
 +
| align="center"|1
 +
| align="center"|Varied
 +
| align="center"|Varied
 +
| [[Image:FilmCanister.jpg |center|thumb|50px]]
 +
|-
 +
! 8
 +
|align="center"|Film Spindle
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Spindle.JPG  |center|thumb|50px]]
 +
|-
 +
! 9
 +
|align="center"|Frame Counter
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Frame Counter.JPG |center|thumb|50px]]
 +
|-
 +
! 10
 +
|align="center"|Front Interior
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera front interior.JPG  |center|thumb|50px]]
 +
|-
 +
! 11
 +
|align="center"|Front Plastic Cover
 +
| align="center"|1
 +
| align="center"|ABS Plastic and Rubber
 +
| align="center"|Injection Molding and Molding
 +
| [[Image:Camera front exterior.JPG |center|thumb|50px]]
 +
|-
 +
! 12
 +
|align="center"|Inner Lens
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Inner Lens.JPG |center|thumb|50px]]
 +
|-
 +
! 13
 +
|align="center"|Interior Body
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Interior.JPG  |center|thumb|50px]]
 +
|-
 +
! 14
 +
|align="center"|Lens Holder
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Lens Holder.JPG  |center|thumb|50px]]
 +
|-
 +
! 15
 +
|align="center"|Outer Lens
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Outer Lens.JPG |center|thumb|50px]]
 +
|-
 +
! 16
 +
|align="center"|Outside Film Advance
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Exterior film advance.JPG |center|thumb|50px]]
 +
|-
 +
! 17
 +
|align="center"|Shutter
 +
| align="center"|1
 +
| align="center"|1040 Steel
 +
| align="center"|Stamping
 +
| [[Image:Camera Shutter.JPG |center|thumb|50px]]
 +
|-
 +
! 18
 +
|align="center"|Shutter Lever
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Shutter Lever.JPG  |center|thumb|50px]]
 +
|-
 +
! 19
 +
|align="center"|Shutter Spring
 +
| align="center"|1
 +
| align="center"|1040 Steel
 +
| align="center"|Forming
 +
| [[Image:Camera shutter spring.JPG |center|thumb|50px]]
 +
|-
 +
! 20
 +
|align="center"|Spring for Shutter Lever
 +
| align="center"|1
 +
| align="center"|1040 Steel
 +
| align="center"|Forming
 +
| [[Image:Camera Shutter Lever Spring.JPG  |center|thumb|50px]]
 +
|-
 +
! 21
 +
|align="center"|Sprocket
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Sprocket.JPG |center|thumb|50px]]
 +
|-
 +
! 22
 +
|align="center"|Viewfinder
 +
| align="center"|1
 +
| align="center"|ABS Plastic
 +
| align="center"|Injection Molding
 +
| [[Image:Camera Viewfinder.JPG  |center|thumb|50px]]
 +
|-
 +
! 23
 +
|align="center"|Washer
 +
| align="center"|1
 +
| align="center"|Rubber
 +
| align="center"|Molding
 +
| [[Image:Camera Washer.JPG  |center|thumb|50px]]
 +
|}
  
 
== Virtual Model and Physics Based Simulation ==
 
== Virtual Model and Physics Based Simulation ==

Revision as of 00:02, 7 December 2006

Contents

Introduction

My robot is modeled on a polar bear, although the lurching and maladroit gait of my creation does little justice to the grace with which that largest of surviving Ursine comports itself. I opted for a four legged creature as it would be simpler to balance than a two legged one, and would require fewer parts than a six legged one. My overall design is fairly simple, with a single drive train and motor that powers all four legs and the offsets of the leg attachments to the body providing the body with stability.

My simulation model was created using the MSC Adams View software, essentially I created an abstracted virtual model of Adams geometric primitives based loosely on the proportions of the Lego pieces in the physical model. My virtual model evolved over time to finally approximate my physical model reasonably well. The rotational speed of the hip gears on the virtual model are closely matched to what I empirically measured on my walking physical model, and the gait of my virtual model is quite similar to the physical one, both in terms of the side to side lurching and the rising and falling of the front and rear body segments. I feel that the virtual model I have created is close enough to the physical model that I can perform parametric tests on the virtual model and feel confident that the findings would apply to the physical model--this idea of simulation and testing the virtual in place of the physical being one of the core ideas in this course. To this end I have actually used my virtual model to find what rotational speed on the hip gears would cause the robot's legs to become unsynchronized, resulting in the robot's loss of leg synchronization and stability, and eventually an overall bodily collapse. This kind of testing can stand in the place of having to try out different motors on the physical robot in order to find the fastest speed sustainable by the robot.

Here is a video of my physical robot walking, the book behind it is for a frame of reference.

Media:MJG-walker.AVI

Here is a video of my simulated virtual robot walking, note the similarity in gait to the physical robot.

Media:Goodwalker.avi

Robot Design and Rationale

Physical Assembly

The table belows lists the Bill of Materials for the disposable camera:

Table 3.1: Disposable Camera Bill of Materials
Part # Part Name # Req'd Mat'l Manufacturing Process Image
1 Back Interior 1 ABS Plastic Injection Molding
Camera back interior.JPG
2 Back Plastic Cover 1 ABS Plastic Injection Molding
Camera Back Exterior Cover.JPG
3 Camshaft 1 ABS Plastic Injection Molding
Camera Camshaft.JPG
4 Eyehole for Shutter 1 ABS Plastic Injection Molding
Camera Eyehole.JPG
5 Film Advance Gear 1 ABS Plastic Injection Molding
Camera Film Advance.JPG
6 Film Advance Lock 1 ABS Plastic Injection Molding
Camera Advance Lock.JPG
7 Film Canister 1 Varied Varied
FilmCanister.jpg
8 Film Spindle 1 ABS Plastic Injection Molding
Camera Spindle.JPG
9 Frame Counter 1 ABS Plastic Injection Molding
Camera Frame Counter.JPG
10 Front Interior 1 ABS Plastic Injection Molding
Camera front interior.JPG
11 Front Plastic Cover 1 ABS Plastic and Rubber Injection Molding and Molding
Camera front exterior.JPG
12 Inner Lens 1 ABS Plastic Injection Molding
Error creating thumbnail: convert: Not a JPEG file: starts with 0x00 0x00 `/var/www/images/3/3e/Camera_Inner_Lens.JPG' @ error/jpeg.c/EmitMessage/242.
convert: missing an image filename `/tmp/transform_27751ac64b3c-1.jpg' @ error/convert.c/ConvertImageCommand/3011.
13 Interior Body 1 ABS Plastic Injection Molding
Camera Interior.JPG
14 Lens Holder 1 ABS Plastic Injection Molding
Camera Lens Holder.JPG
15 Outer Lens 1 ABS Plastic Injection Molding
Camera Outer Lens.JPG
16 Outside Film Advance 1 ABS Plastic Injection Molding
Camera Exterior film advance.JPG
17 Shutter 1 1040 Steel Stamping
Camera Shutter.JPG
18 Shutter Lever 1 ABS Plastic Injection Molding
Camera Shutter Lever.JPG
19 Shutter Spring 1 1040 Steel Forming
Camera shutter spring.JPG
20 Spring for Shutter Lever 1 1040 Steel Forming
Camera Shutter Lever Spring.JPG
21 Sprocket 1 ABS Plastic Injection Molding
Camera Sprocket.JPG
22 Viewfinder 1 ABS Plastic Injection Molding
Camera Viewfinder.JPG
23 Washer 1 Rubber Molding
Camera Washer.JPG

Virtual Model and Physics Based Simulation

Useful Links and Resources

include lego robot book inclue lego robot pdf from handyboard include the adams tutorials