Designing Autonomous Underwater Robotypeng/SGC/PengYichao6037328712.pdfFamiliarized with common...
Transcript of Designing Autonomous Underwater Robotypeng/SGC/PengYichao6037328712.pdfFamiliarized with common...
Designing Autonomous Underwater Robot
Yichao PengMechanical Engineering Major
College Park Scholars
Science & Global Change Program
College Park Scholars Academic Showcase
May 5, 2016
Introduction
The goal of the project is to design, fabricate, and test a novel
autonomous underwater platform. The robot need to form tasks such as
passing through gates, firing torpedo, locating sonar ping.
We wish to retire our old robot and build a more modular robot that’s
lighter, more compact, and easier to service. My task is to design,
analyze, and fabricate the new robot along with all the component
mounting.
Acknowledgments:
Special thanks to Dr. Akin, grad students at Space
System Lab, Mr. Aroom, the DesignME shop, members
at Robotics @ Maryland, Dr. Merck and Dr. Holtz
Discussion
❖ Completed the design and analysis of a robotics mechanical system
❖ Reduced weight by 60% and size by 50% compared to its predecessor
❖ Learned the importance of teamwork in engineering project and that an effective
channel of communication is critical to keep team in sync
❖ Learned to mitigate the impact of funding on robot design by choosing cost effective
components, cutting excessive spending, and preparing to downgrade
❖ Learned to distribute work and plan out the project using dependency analysis and
Gantt chart
❖ Familiarized with common machining operations
Robotics at Maryland (R@M)
R@M is a student organized, competitive robotics team
specialize in autonomous underwater vehicle. We
compete in the annual RoboSub competition.
We are designing a new underwater platform incorporating the latest
computing hardware and actuators. We are also exploring new
fabrication methods such as water-jetting, laser cutting, and 3D printing.
Finalized Robot
Future Work
❖ Design and build competition specific mechanisms and write up documentation
❖ Expand the functionality of robot to perform more tasks
❖ Research and develop object manipulation mechanisms such as robotics arms
Space to
place QR
Code
Image by Jackie Tran
Photo of retired Tortuga IV (left) and frame for project QUBO (right)
CAD Rendering of assembled robot (left) and electronic hull (right)
Design Analysis Fabrication
Modular robot frame
Mounting for components
Pressure rated hulls
Electronic hull internal
Stress analysis for parts
Thermal simulation
Machining review
Critical Design Review (CDR)
Material selection
Create shop drawing
Contract machining shops
Milling and turning parts
Robotics at Maryland:
Neutral Buoyancy Research Facility
4436 Technology Dr.
College Park, MD 20742
Image by Justin Kanga
Photo of R@M members in front of neutral buoyancy tank