Outline• Background• First Semester Work• Mechanical

OverallBaseShoulderElbowWristPoker

•Electrical Control System Outline Microcontroller Motor Controllers Control Interface

Background

• RLEP – NASA sponsored program to develop small scale robotics to aid in exploring the lunar surface

• Purpose: Design a robotic manipulator device capable of effectively breaking through hard soil and chipping rocks.

• Moonavators Team - 6 members

K-10 Rover

First Semester Work

• L07 redesign Stiffen arms Add gearing to

remove slop from system

• Research/ Initial development

M08 Robot

Base

• Direct Drive Motor Housing

• Provide polar motion to robotic arm

• Friction free motor

Shoulder• Motor and

gearbox are paired• High torque, light

weight• Controls vertical

arm movement

Elbow

• Small motor high torque, low speed• 60:1 gearbox for increased torque• Increase the precision of linear positioning

Wrist

• Small motor high torque, low speed

• 120:1 gearbox for increased torque

• End effecter positioning

Shovel

• Scooping• Pushing• Lifting• Impact Force

Percussive Poker Development

Poker• Purpose to chip rocks

and break hard soil• Fracture with quick and

repeated impact• Double impact cam

action• High speed low torque

motor• Heat treated

components

Electrical

Control System Outline• User interface

Playstation controller • Microcontroller

Rabbit 4110 microprocessor• Types of motor controllers

BLH 450, shoulder motorB15A8N, base motorBH-25, elbow, wrist, poker

motors

Microcontroller

• Rabbit 4110 Replaces Two Basic Stamp’s, Mini-ITX

Motor Controllers

• BLH 50 K (Oriental Motor Co.) Shoulder motor

• B15A8N (Advanced Motion Control)Base motor

• HB-25 (Parallax)Elbow, Wrist, Poker motors

Control Interface

• Human user interfacePlaystation controller

• Serial port interfaceCan be externally controlled via serial port

Thank You

• NASA Ames• NASA Idaho Space Grant Consortium• Mentors:

Aaron GoodinJohn Lacy

• Russ Porter• UI Faculty: Steve Beyerlein, Jean Teasdale,

Dave Atkinson, Becky Highfil, and others.