2015 Warman Group project - Design and prototype a system to collect, control and deliver a payload to a 'goal'.

1. Warman 2015
University of Technology Sydney
A. Gillmore
B. Potts
T. Dalyell
S. Abid
D. Brown

2. Brief outline of activities and
decisions
• Brainstorming
- Device collecting 6 balls with path straight down the track
- Suction cups
• Concept
- Keeping the design simple
- Collect and store 3 balls before continuing to the next three
- Aiming for biggest storage pit due to minimal point difference
• Design
- Dagu Rover 5 tracked chasis
- 2 DC motors with 4 encoders
- 2 Servos operating collection arm
• Production
- Laser cut sheet acrylic (3/4.5mm)
- Different sized spacers to control ball arm height
• Testing
- Ahead of fabrication schedule allowed us maximum track testing time
- Laser cut starting jig with adjustable spacers
• Execution
- Followed from testing

3. Project and device
requirements
• Collect 1-6 balls put in 1 of 3 storage pits;
• Off the shelf kits not allowed;
• Start button can not impart motion;
• 120 second set up time, 120 second run time;
• No contact with robot after start;
• Wireless communication prohibited;
• 6kg, 400mm cube restriction;
• Robot must stop moving after completing the course.

4. Detailed explanation of the
device
• Prototype 1
- Tolerance issues
- Group discussion following testing we decided to continue
brainstorming another idea as we had plenty of time
remaining
Concept Design

5. Detailed explanation of the
selected device
• Final Prototype
- Dagu Rover 5 Tracked Chassis
Concept Design

6. Detailed explanation of the
selected device
• Final Prototype
- Mechanical linkages to operate the gates
- Arm is connected through cantilever under the Dagu
Concept Design

7. Detailed explanation of the
selected device
• Design Mechanics
- Two Servo motors;1 for Ball gates and
a second to keep the collector
arm within the 400mm requirement
• Meeting the design requirements
- Start button correctly installed
- Dagu max speed was 25cm/s allowing plenty of leeway to
fit within time limit
- Total system weighed under 3kg
- Total system was within 400mm Cube due to folding arm
design

8. Two key issues overcome by
the team
• Driving Straight
• Encoder resolution
• Physical design of Robot
• PID controller code modification
• Starting position
• 1 degree of inaccuracy at start resulted in 35mm East
west variation at 2m
• Laser cut starting jig with adjustable spacers

9. Videos
5 Balls collected and
stored in the large pit
Event day

10. Final Device Analysis
• Rules/requirements met
• No combustion/Aerial systems
• 1 button push start
• Met all size and weight (final weight -> 2.8kg) restrictions
• Device Weaknesses
• Tracked chassis, encoder resolution, starting position could be refined
• Improvements
• IR sensors to detect edge and drive robot straight
• Replace tracked chasis with rear wheels and front castor
• Positives
• Build quality
• Collection mechanism if positioned properly never failed
• Speed
• Team time management (8am lab sessions, early prototyping)