presentacion robocup
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Lehigh RoboCupTeam
Matthew Cullin
Leslie EuriceJonathan FeldmanKa Wai Kwok
Advisor: Prof. Eugenio Schuster
Project History
The conceptual design of a robot for RoboCup Competition was completedlast semester and served as the starting point of the project
The overall objective of the project is to build 10 robots (2 teams) to enterthe RoboCup Competition at the end of the year.
The goal for this semester is to build 2 robots that can play soccer with eachother.
This will be the first Lehigh RoboCup Team. All the robots are built with thehelp of the conceptual design report.
The whole team is splitted into 3 groups:-Mechanical Engineering
-Electrical Engineering
-Computer Science
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What isWhat is RoboCupRoboCup??
RoboCup is an international joint project to promote robotic andartificial intelligence development
The ultimate goal is to develop an autonomous humanoid team of
robots that can defeat a championship human team
Competition divided into 5 leagues:
Simulation League
Small Size Robot League (F-180)
Middle Size Robot League
4-Legged Robot League
Humanoid League
Mechanical Engineering
Computer ScienceElectrical Engineering
Systems integration of several disciplines
Draw participants from multiple departments
F-180 League Rules Outline
The F-180 League Playing Field
16 0
11 2 28
7
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F-180 League Rules Outline (cont.)
Maximum of 5 robots Must have at least 1 robot
Robots may be interchanged
1 robot may designated a goalkeeper
Dimensions Must fit within cylinder 180mm in diameter
Max height of 150mm
Mechanical Design Goals
Minimize weight
Low center of gravity
Minimize maintenance downtime
Optimize available space
Maximize acceleration in all directions
Maximize kick velocity and accuracy
Integrate mechanical design with electrical and vision systems
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Mechanical Design ElementsMechanical Design Elements
Omni-Directional Drive Architecture
Drive Motors
Wheel Selection
Dribbling Mechanism
Kick Mechanism
Chassis Design
Solenoid Kicking Module
Omni-directional Drive Chassis
Dribbling Mechanism
Novak Brushless DC Motor
Drive Architecture
Omni-directional Drive Chassis
4 wheel omni-direction drive platform:
Offers greatest power
Highest traction on playing surface
Overall higher acceleration than 3 wheel design
Omni-Directional Drive Wheel
Allows movement parallel
to rotational axisBrushless DC Motors
Highest power to weight ratio
Longer lifespan than brushed motors
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Motor SelectionPerformance Goals: Maximum acceleration: 10m/s2
Maximum velocity: 3 m/s
0 0.5 1 1.5 2 2.5 3 3.50
200
400
600
800
1000
1200
1400
1600
1800
2000
Speed(RPM)
Torque (N*m)
Motor Comparison: At 15.5V with appropriate gear ratios
Faulhaber 2224:006SR @ 15.5V; GR=25.023Faulhaber 2342:006CR @ 15.5V; GR=13.3457
Maxon Re-max 24 @ 15.5V; GR=19.3829Maxon EC45-30W @ 15.5V; GR=3.4695Maxon EC45-50W @ 15.5V; GR=2.3867Desired Operating Area
* Target Performance
Motor Specification
Required max torque: .448 N m
Required max speed: 840 Rpm
Motor Selected: Castle Creations MMB25-CM2042
Size Constraints:
Maximum diameter: 3 cm
Maximum length: 3.5 cm
Drive Component
Collar motor shaft / wheel connection
Motor mount motor / chassis connection
High Impact Acrylic (Plexiglass)
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Drive Assembly Wheel / Motor Assembly
Drive Assembly Motor / Chassis Connection
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Ball Control
Dribbling Mechanism
Dribbling Bar:
High speed roller creates backspin on ball
Cornell 2005 Robot
Dribbler Mechanism
Chosen Design
Hour Glass Design
Initial Design Concept
Standard Cylindrical Bar
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Ball Control
Kicking Mechanism
Common Kicker Designs
Spring loaded crossbow design
Spinning kicker bar
Spinning Kicker Bar
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Kicker Design Injection Molding
Top View
Front View Side View
Isometric View
Kicker Design Water Jet Cutting
2-D geometry easier to manufacture
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Kicker with Solenoid
Chassis Design
Preliminary 2-D AutoCAD design
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Chassis Design Implementation
Collaboration with ECE group
Microprocessor Implementation
- controls the mechanical devices1. Drive Motor Speed Control
2. Kicker (Solenoid) Speed Control
3. Dribbler Motor Speed Control
Electrical Components Mounting1. Circuit Board
2. Batteries
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Project CostsFor Two Robots
$1,362.90Total
$80Rapid Prototyping
$180Water Jet CuttingManufacturing
$-Aluminum plate
$7.1Plexiglass Rod
$11.00Plexiglass SheetMaterials
$44.802$22.40S-20-150-H D-Frame Push TypeSolenoid
$1000.008$125.00Castle Creations MMB25-CM2042 Brushless DCMotor / Controller
$40.008$5.00Kornylak Omniwheel 2.570Wheels
CostQuantityUnit CostDescriptionPart
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