NASA Lunabotics Competition BP-1 Excavating Autonomous Rover€¦ · NASA Lunabotics Competition...

NASA Lunabotics CompetitionBP-1 Excavating Autonomous Rover

Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel GreenbergDr. Ramesh Varahamurti

Team Members and Faculty Advisor

NASA Lunabotics Competition

Ross “Botsauce” BaileyAndrew “TT Showbiz” BoltonEvan “Christmas” CarrollBen “Magic Beard” BennettNathaniel “Jazz Hands” GreenbergNalin “Rampage” Randeniya

Team Members(From Left to Right)

Faculty AdvisorDr. Ramesh “The Hurricane”Varahamurti

Industrial Sponsors


Background


Excavation is a necessary first step in living off of the land

• Oxygen extraction• Habitat foundation

New concepts for excavation technologies needed

Background


LunArena• 10 minute run• Minimum of 10 kg• Rocks and craters

Problem Definition


Requirement

Engineering

Specification Metric Method/Device Target Condition

Lightweight Vehicle Mass kg Scale < 80 kg

Inclusive of all

parts

Compact Size m Tape Measure

< 1.5m x .75m x

.75m

Starting

Footprint

Amount of BP-1 mined Mass kg Scale > 10 kg During 10 min

Communications

Average

Bandwith kb/sec

Bandwidth Test

Software -1/50 kb/sec

As minimal as

possible

Set-up Time min Stopwatch < 10 min

By trained team

members

Removal Time min Stopwatch < 10 min

By trained team

members

Design Solution


Autonomous Control


Fabrication


Testing


• Emergency Stop button – As a requirement

ø > 5 cm

• Maneuverability and Mining capability

• 10 kg BP-1 collection capability Targets

• Dust reduction – Bonus points

Testing


List of Experimental Tests

1. Set-up and Power-up

2. E-Stop Verify

3. Maneuverability and Digging Controls

4. 10 kg Remote Trial Run

5. Dust Mitigation

Testing


E-stop Verification Test

Testing


Maneuverability and Digging Controls

Testing


Testing


10 kg Sand Collection Trial Run

Testing


Dust Mitigation

Testing


Results Review

TEST STATUSSet-up and Power-up Successful

E-Stop Verification Reliable

Maneuverability and Digging Controls

Smooth and Accurate

10 kg Sand Collection within 10 minutes

Achieved

Dust Mitigation Satisfactory

Sources of Funding:

Industrial Sponsor – NASA Mission Directorate_______ $ 3,000.00

Donations – Total Donations_______________________$1,250.00

Sponsors – Transfer Flow

A Main Hobbies

Galil

Dimension Engineering

Royal Printing

Total Material Donated___________________$ 2,803.68

Donated Labor – Transfer Flow

• Manufacturing: The Frame

The Lever Arm

The Wheels

Estimated hour of donated labor/ Approx. employee wage

~ 45 hrs x $40/hr = ________________________$1800.00

Final Budget


Final Budget


Receipt Number

Date Purchased Supplier Part Number Part Description Quantity

Cost Each Subtotal Total

00244692519052209 1/18/2012 Amazon.com B000N9PJ7W

Seachoice ATO / ATC Fuse Block 10 Gang 1 17.49 17.49 17.49

00244692519052209 1/18/2012 Amazon.com VPATC30

Bussmann VP/ATC-30 30 Amp Faast Acting Blade Fuse, 1 6.73 6.73 6.73

38105681901182012 1/18/12

Orchard Supply

Hardwear000003069927651

6 MCH SCR-RND 8-32x1 1 0.99 0.99 1.06

38105681901182012 1/18/12

Orchard Supply

Hardwear000003900810170

9 EXT SPRING 2-3/8" 2 2.29 4.58 4.91

38105681901182012 1/18/12

Orchard Supply

Hardwear000003861314625

9 2-1/2" ZN LT NAR B 1 3.19 3.19 3.42

38105681901182012 1/18/12

Orchard Supply

Hardwear000003900303011

0 1" OD LEG TIP 1 1.99 1.99 2.13

038102690201172012 1/17/12

Orchard Supply

Hardwear000064873841473

9 T-10 TORX DRIVER 1 3.99 3.99 4.28

038102690201172012 1/17/12

Orchard Supply

Hardwear000003069918512

2 MCH SCR-RND 8-32x2 1 3.49 3.49 3.74

038102690201172012 1/17/12

Orchard Supply

Hardwear000003069918512

2 HEX MACH NUT 8-32 1 2.99 2.99 3.21

038102690201172012 1/17/12

Orchard Supply

Hardwear000003069919802

3 WASHER SAE #8 ZINC 1 1.99 1.99 2.13

495349 1/4/12All Metals

Supply FL460-184 6061-T6 1/8 x 4 FLAT ALUMINUM 8 3.14 25.13 26.95

495349 1/4/12All Metals

Supply ST480-WW0656061-T6 1 x 1x .065 SQ TUBE

ALUMINUM 20 1.19 23.73 25.45

Final Budget


Receipt NumberDate

Purchased SupplierPart

Number Part Description QuantityCost Each Subtotal Total

Donated 1/25/12A Main

Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00


Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00


Hobbies LOSB3227 Wheel Nuts, Blue Anodized (4) 1 13.49 13.49 0.00


Hobbies LOSB7028 Beadlock Set, Inner & Outer (2) 1 11.75 11.75 0.00


Hobbies LOSB3224 Fr/R Stub Axle & Pins (1) 1 16.49 16.49 0.00

Home Depot Bosch DDS180-02 1170.9

9 170.99 170.99

Amazon.com Bosch DDS180-02 3159.9

9 479.97 479.97

16837190 2/1/12McMaster

Carr 5912k4 Aluminum Bronze Bearing 1/2 Diameter 4 11.11 44.44 52.53

2/4/12Dimension

EngineeringSabertooth

2X25 Sabertooth dual 25A motor driver 3124.9

9 374.97 0.00

38103602402172012 2/17/12

Orchard Supply

Hardwear 6435994 ALUMINUM ROUND RD 1 11.49 11.49 12.32

038102958002042012 2/4/12

Orchard Supply

Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75

038102958002042012 2/4/12

Orchard Supply

Hardwear 614121130487 1/2 ALUMINUM ROD 1 4.79 4.79 5.14

038102958002042012 2/4/12

Orchard Supply

Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75

038101135402042012 2/4/12

Orchard Supply

Hardwear 39008215574 RBR WASH 5/8X2X1/8 4 1.19 4.76 5.11


Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00


Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00


Hobbies LOSB7027 Wheel and Beadlock Set (2) 2 30.99 61.98 0.00

A Main

Final Budget


Receipt NumberDate

Purchased Supplier Part Number Part DescriptionQuantit

yCost Each

Subtotal Total

C-1203-S1593 3/16/12

STOCK DRIVE

PRODUCTSA 1C 2-N24144 GEAR SP.24P.ST. 6inDP(US) 2 56.98 113.96 122.55

C-1203-S1593 3/16/12

STOCK DRIVE

PRODUCTS A 1C 2N24012 GEAR SP.24P.ST. 0.5in DP(US) 2 9.80 19.60 28.10

20948590 3/19/12 McMaster Carr 2737T1Steel Finished-Bore Roller Chain Sprocket, for #25

Chain, 1/4" Pitch, 9 Teeth, 1/4" Bore 1 5.61 5.61 8.53

20948590 3/19/12 McMaster Carr 2737T151Steel Finished-Bore Roller Chain Sprocket, for #25

Chain, 1/4" Pitch, 23 Teeth, 1/4" Bore 1 7.80 7.80 10.72

24463834 4/23/12 McMaster Carr 91251A359Black-Oxide Alloy Steel Socket Head Cap Screw,10-32

Thread, 2-3/4" Length, Packs of 10 1 13.89 13.89 14.90

24463834 4/23/12 McMaster Carr 8632T132 D-Profile Shaft, 1045 Steel, 1/4" OD, 6" Length 1 6.64 6.64 7.12

24463834 4/23/12 McMaster Carr 6261K108 #25 Connecting Link for, Standard ANSI Roller Chain 4 0.96 3.84 4.12Donated Galil DMC-2183 Galil Motion Controller 1 1595.00 1595.00 0.00

Galil ICM-20105 Interconnect with Optoisolated I/O 2 195.00 390.00 0.00Arduino ATmega328 Arduino Uno Microcontroller 1 38.00 38.00 0.00

Microsoft Microsoft XBOX Kinect Sensor 1 129.99 129.99 0.00NTC SPST RELAY 2 0.00 0.00

24598862 4/24/2012McMaster Carr

8510K14SBR Rubber Edge Trim, 3/32" Opening, 21/64" Inside

Depth. 25 0.42 10.50 11.26

24598862 4/24/2012McMaster Carr

5542T85 Push-on Corner Cap, fits 1/8" to 3/16" Thickness, Black16 0.42 6.72 7.21

24598862 4/24/2012McMaster Carr

N/AShipping Expense 1 5.53 5.53 5.93

38106717804212000

4/21/2012Orchard Supply

Hardwear

30699192427

NYLN LKNT 8-32 1 4.99 4.99 4.99

38106717804212000

4/21/2012Orchard Supply

Hardwear

30699276226 MCH SCR-RD 8-32x1 1 2.79

2.79 2.79

6609584205904 4/14/2012The Home

Depot726941107010 .093-18x24 LEXAN XL 1 19.98

19.98 21.43

6609584205904 4/20/2012The Home

Depot786102105002 HONDA FILTER 2 9.97

19.94 21.39

6609584205904 4/20/2012The Home

Depot076812402011 HACKSAW 1 5.47

5.47 5.87

66095833801 4/20/2012The Home

Depot726941107010 .093-18x24 LEXAN XL 1 19.98

19.98 21.43

Total Cost of Robot :

$ 1,519.09

Final Budget


Final Budget


Labor:

Semester Total Man HoursAverage

Engineering Wage

Amount

Fall1271 $40/hr $ 50,840.00

Spring1632 $40/hr $ 65,280.00

Total: $ 116,120.00

Final Budget


Total Project

Cost Estimate:$ 121,028.55

Reflection


•Unique Problems encountered• Drill Motors were a challenge to mount• Tolerances on shafts, bearings, and

couplers•Merits of the Design Solution

• Drill Motors, Custom Wheels, Battery Counterweight, and Simple Design

•Suggestions for the future• Suspension and Steering

Conclusion


• Special Thanks to Mike Lorroco• Ready for Competition!

Questions?


NASA Lunabotics Competition BP-1 Excavating Autonomous Rover€¦ · NASA Lunabotics Competition...

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