Browsing by Subject "Robot"

Now showing 1 - 5 of 5
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    "Follow Me" Robotic Cooler Capstone Project
    (2020-04-20) Powers, Derek; Sunderland, Kyle; Aljabran, Zainab; Izadian, Afshin; Stephens, Craig
    This project is called the Follow Me Robotic Cooler. The concept is a person tracking robot that is powerful enough to carry around a 20lb cooler. The project was made ideally for a person attending the Indy 500, that does not like to carry their cooler around. This report shows the processes we used to meet the goal we set out to meet, as well as some troubles we had along the way.
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    Mini Mars Rover
    (2020-12-11) Alanzi, Nafa; Tan, Chad; Walden, Dae’Shaun; Freije, Elizabeth; McNeely, Andrew
    The customer, Andrew McNeely, would like us to construct and design a miniature-sized version of the existing Mars Rover robot. The robot will be controlled through an Android Application that we have designed, that will control the motor movements and command the robot to collect five data points from the environment. What we are given that is out of our scope for operation is an existing robotics kit that we will grab components from, the battery, frame, wheels, and motors. Our In-Scope of operation is to design a buck converter, power supply, and a transistor circuit that will transfer a low voltage output from a higher voltage input, a battery. We also designed a board layout for the motor control and designed a code for the Android Application and the microcontroller.
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    Multibody dynamics model of a full human body for simulating walking
    (2017-05) Khakpour, Zahra; El-Mounayri, Hazim
    Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor: Hazim El-Mounayri. Bipedal robotics is a relatively new research area which is concerned with creating walking robots which have mobility and agility characteristics approaching those of humans. Also, in general, simulation of bipedal walking is important in many other applications such as: design and testing of orthopedic implants; testing human walking rehabilitation strategies and devices; design of equipment and facilities for human/robot use/interaction; design of sports equipment; and improving sports performance & reducing injury. One of the main technical challenges in that bipedal robotics area is developing a walking control strategy which results in a stable and balanced upright walking gait of the robot on level as well as non-level (sloped/rough) terrains. In this thesis the following aspects of the walking control strategy are developed and tested in a high-fidelity multibody dynamics model of a humanoid body model: 1. Kinematic design of a walking gait using cubic Hermite splines to specify the motion of the center of the foot. 2. Inverse kinematics to compute the legs joint angles necessary to generate the walking gait. 3. Inverse dynamics using rotary actuators at the joints with PD (Proportional-Derivative) controllers to control the motion of the leg links. The thee-dimensional multibody dynamics model is built using the DIS (Dynamic Interactions Simulator) code. It consists of 42 rigid bodies representing the legs, hip, spine, ribs, neck, arms, and head. The bodies are connected using 42 revolute joints with a rotational actuator along with a PD controller at each joint. A penalty normal contact force model along with a polygonal contact surface representing the bottom of each foot is used to model contact between the foot and the terrain. Friction is modeled using an asperity-based friction model which approximates Coulomb friction using a variable anchor-point spring in parallel with a velocity dependent friction law. In this thesis, it is assumed in the model that a balance controller already exists to ensure that the walking motion is balanced (i.e. that the robot does not tip over). A multi-body dynamic model of the full human body is developed and the controllers are designed to simulate the walking motion. This includes the design of the geometric model, development of the control system in kinematics approach, and the simulation setup.
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    Robot Arm Interface with Microcontroller
    (2020-05-07) Miles, Koty; Montalvo-Hernandez, Carlos; Ku, Derek; Freije, Elizabeth
    To fulfill the needs of an advanced ECET microcontroller programming class, two robot arms are to be created for the students. These robot arms will have six degrees of freedom, interface with a microcontroller, and be controlled wirelessly with an Android application via Bluetooth. Once the robots are 3D printed and assembled, three new labs will be created and tested which will integrate these robot arms into the class. The first lab will be an introduction to servo motors and the robot arm, the second will include an ultrasonic sensor which will communicate with the robot, and the third will have two robots communicate with each other as well as a single Bluetooth device. An overview of the design of these robots is included in this document including the scope, decision matrices, schematic, design layout, test plan, bill of materials (BOM), assembly instructions, and user manual. The outcome of this project is crucial so that students will be able to have a user-friendly platform that allows them to practice and teach them how to properly program microcontrollers that will control these robots.
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    Robot Safety Interlocks For ABB
    (2022-05-04) Mitchell, Jacob; Grissom, Joe; Robinson, Timothy; Cooney, Elaine
    The Robot Interlocks Capstone project serves its purpose of protecting those in the room of the ABB robot. The entire system was designed by the Robot Interlocks Team of 2021-2022 and built by Campus Facility Services. The students in charge of the project are Joe Grissom, Jacob Mitchell, and Timothy Robinson. The Academic Advisor and supervisor of the project is Professor Elaine Cooney. The project function is to halt robot operation once the door interlock loses contact with its actuator, the enclosure gate is opened, or once the area scanners detect obstruction of any kind within the robot enclosure. All documentation used by the team has been referenced within this document. Since this project will continue to be an ongoing project in the future, it is highly recommended to read through this document before going forward with robot operations.