Vax Power Reach V-015 User Manual

A Functional Vehicle for Autonomous Mobile Robot Research Gregg Podnar, Kevin Dowling, and Mike Blackwell CMU-RI-TR-84-28 Autonomous Mobile Robots Lab

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3 2. Design Requirements ‘I‘hc fiindomcntal dcsign rcquircmcnt is: a sclf-propcllcd vchiclc, with provisions for computcr control of dircction and

4 I =III= + II= I n r Figure 2- I: Neplune

3. Design Decisinns 3.1 Cliassis and Suspeiision ‘1’0 simplify suspension, s tricyclc configuration is uscd. ‘I’CII iiich (25cin) diamctcr pncumatic t

6 For study, it inay hc itppropriaic to further rcducc tlic drivc spccd. u hilc inosasiiig thc stccring spccti, his ;illowing morc Iluid i~iovcs.

8 \ n n I Figure 3-1 : Neptune - Cutaway

9 4. Structure Ncpfune is madc from two basic asscmblics, thc fork and the frame. 130th parts wcrc dcsigncd to havc an cxccss of structural forti

10 ‘I’hc drivc motor is nlountcd to thc stiirhoilrd platc and can bc slid up ;tud down to adjilsl thc lcilsion ol‘ the drive chain. A sitnplc scrw jac

11 (kunlerwc4ghts NC~IUIW has a fairly high ccntcr of gravity duc primarily to tlic position of Uic drivc motor. Considering thc addition of othcr

12 'I'hc chain sprockcts are all kcycd to thcir shafts with stock split-tripcr bushings. Tlic bwring howings, fr:imc caps, motors and thc

13 Front 1 Off Limits 2 Center 3 RightILeft Switches 1 and 2 cannot be on at the same time Figure 4-3: Limit Switch Ranges 4.7 Camera Mount 123 0

14 Figure 4-5: Neprune - The first run Kevin Dowling attending.

5. I I\;lcctianical 15 With i1 3: 1 chain reduction from thc motor. the drive ivhccl runs at 24KPh.1. This is about one foot pcr sccond; less than 1 W

16 0. 12!)tatc tlic uchiclc to rJic clircction it originally started. 7. Again str-;iightcn llic stccrcd whccl. If at rhc sccond step. llio intcnt is

17 5.3 System I’crformance Thc physical vchiclc bccomcs a robot with thc addition of cnvironmcnt mapping ciipabilities [7,4], path planning [6]

6.11Slectsical Control Hot c leu t r a 1 Simplicity and thc ilbility to changc hardwarc wcrc primary dcsign considcralion:; in tlic clcctrical system.

20 'I'lic l:i!.cliing citxuicry c;in bc sccn in dctaii in Appendix 11. A sirnplc flip flop was constructcd from NOR giiics. In addition, th

21 6.4 1)cl;iy Circuit ‘132 ir Time delay Figure 6-2: Delay Circuit The delay circuit provides a safety factor when motor direction is changed, e

i Abstract 1. Introduction 2. Ilcsign Kequirmncnts 3. Design Occisions 3.1 Chassis and Suspcnsion 3.2 l’cthcr 3.3 Powcr 3.4 Motors 3.5 Control 3.6 Com

22 N(;tc (hi tlic ni,iid controllcr has a switch to cnablc m:i~iuA co~~t~~l. I! ~I.IJIS thc SCICZ~ ('tl thc III~IX Ciiilblc 1t)w 111us ,~llowiiig

23 cancr:i fi91s CIC. 0nc switch swilcixs from coniputcr control to ni~inu:rl control Lind thc ollicr sclccts onc of Ihc two C;IIIIC~;R Ag,iin, thc l

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25 On board, Nqmrir carrics one micrt~omputcr spstcm, built around a Motoroln MCOY000 32-bit rnicroproccssor. ‘I’hc liinction of tlic microconipu

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27 8. Bibliography Mntthics, I,. CYC ‘I’horpc, C. b”I10 and ‘I’YCIIO: Vision and Navigation for Mobilc Robots. In I’rocwdiiigs r~11~/.:I:‘-Occari.~-H4

Appendix I Appendix I Mechanical Drawings

Appendix I

t d 4 N Y) 10 .126 -/ n c"- I2*O -I I7 .250 .250

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.II nn 4.p V IL. uu - 0 * 2.1251 P 6.00 2.125- ' File: [rover]/usr/gwp/d. tri IForkTop. dp Date: 7-Feb-84 I Scale: NTS Approved: Dwg, Fork Drawn

0 8.500 m b N p-- 3.375 --= 3.375 1 0 0 Seven Holes About 1.000 deep Drilled and Tapped for #8 T- ... I ... > - I E I I 10 c:::::::::::: - -

0 hrl N e ... Seven Holes About 1.000 deep Drilled and Tapped for #8 0 2 +-I- + ; fs:: Y-! N(O 0 m 7 Front Note: All measurements: +/-.016"

Four holes- each end. .ZOO dia. Four holes 1 J each end. .I75 dia. Countersunk one side. Four holes each end. .175 dia. Countersunk one side.

Top Front (cutaway ) Fillet welds all the way aro'rnd the side plates on the Jut.-hoard side. Fillet w<!lds alcn~ tha inside cn?ners w::e

Cover Brackets 0 W t m 0 In I ".*"" Two holes .180" dla. 0 r 0 0 d h T 4_ 0 UJ h 0 In t I 0 W N I Material: Alumlnum I one Inch

0 f 3.375 0 0 0 .. 0 0 Y) - 1.365 ,Ld two holes each. Two sets of Drilled and tapped for 14. tb v) N 0 '9 + One cutout r-.600 _. ~ Oi I Mobil

I r- 1.375 All edges filed to sharp edges. 3.250 remove I n 1 .625 I I One hole JAR. dia. .100 .200 clear depth k- 2.750 0___/1 m ,* I. Two holes .

All edges filed to remove sharp edges. One hole 1.0" dla. One hole Drilled and tapped for 318" coarse thread t- T 3.260 U .260 Materla

f Hole bored .60" deep In slde of shaft for passlng wires. .50" dla. To prevent abrasion, file or beve sharp edges inslde & out 0 2 d 0

iii List of 1”g ‘I urcs 1:igurc 2- 1 : Niyruz:e Iiigurc 3- I : Ncpmtto - Cutaway Yigurc 4- I: Nry/utrci - ‘l‘hc basic vchiclc (port sidc vicw). Kgurc

Four holes One hole Centered .880 in a square .326 dla. dia. .E76 \_I -x46 Chamfer. .I6 One slde. As semb 1 y Use Fork Shaft. Square keyway wit

3.825 \ - One Hole, I L Three holes located 120 Oapart. Drilled and countersunk for #8. Note: All measurements: +/-.010" Note: Make Two. Or

L -I-- + '9'9 -- b -I .625" UNC thread /- .625" UNC thread /- Note 1: Have Shaft made by Thompson Industrles. Inc. Manhasset

Chamfer both ends to ease pressing into wheel. -Allen Set Screw hole Drilled and tapped for 110 - Allen Cap Screw hole Drilled and tapped for

.600 00 00 901 ff: +x45 Chamfer I %x45 Chamfer. Note 1: Have Shaft made by Thompson Industries, Inc. Manhasset. NY 11030 (616)883-8000 Note 2: M

I Date: 10-Feb-84 I Scale: NTS Checked by: ' Drawn by: G.Podnar '1 2 ? ID L Approved: Dwg. Fork No.: Of 7.750 - p- 3.875 _____de__ 3.87

I Six holes. - Drilled and tapped for #6. Four hole Material: Aluminum 6061 Note: Make one. .le75 (or .260) thick. 7 4.00" u 0 0 0 0 c( 0 0

L ‘Y Turnlng Length 42” (‘curb to curb’ 0 Mobile Robot Lab 1984 1 inch Title: Trike Frame File: [rovrr]/usr/gwp/d.tri/Frame.dp Dwg* Frame Drawn by:

0 0 0 0 0 0 0 0 0 0 00° 0 0 0 0 0 0 Rlght Material: 4" Square Alumlnurn Tubing. .125" wall. 6063-T6 0 0 0 0 0 0 0 0 0 0 0 Lor t Note: Make

0 z Front i -Note: See other end for I Checked by: NO.: these hole placements. nf 10 0 u) W W I. N d 1.25 A1 l.C 7 0 0 0 0 0 @\ I I j 0 0 Note:

iv

UI N Q 9 m N Lo N x 0 * u! r-1.376 -0 - 2.05 4- 2.00 - 2.00 -=I- 2.00 Front ] Note: Same on all hole four pattern sides and both ends. 1 large hole

F Front 9 w N Frame Orawnby: G.Podnar -Note: See other end for No. : these hole placements. nf in t L ID h N .4 t t 1.25- 1.50 1.25 I I I I 0 0 0

0 0 * 1 Front ID N rd File: [rover]/usr/gwp/d.tri/FrameA4.dp Revised: 5-Feb-84 gp Date: 26-Jan-84 I Scale: NTS Approved: , i;:; Frame Drawn by:

4.00 '\\\ i L Right r 2.50 \ - \I Front B 1.26 ' 1.26 Left J Rinht Part B One large hole on Front 2.76 dla. With 4 small holes spaced as

ID N d 1 Inch I I lght -. Date: 25-Jan-64 I Scale: NTS Approved: Checked by: nf 10 Drawn by: G.Podnar Dwg. F raine . No.: One large hole on Top 2

I I\ 3.00 -d IO Two lines marked to lndlcate alignment for weldlng of Part C. /' 1 inch Front L I Part D 0 @I Mobile Robot Lab 1984 Title: Trik

* .125 P Note Note Eight holes drilled to a depth of .75" from surface and tapped for #la screws One hole, centered 1.00" d 1 a. Bevele

I I I I I I I I I I I I I I I I I I I I I I I I I 1 I I I I I I .I I I I I I I I I I I I I 1 I I I I I I I I I I 1 I I I I I I I I I I I I I 1 li Two

m Right Materlal: 4" Square Aluminum Tublng. .126" wall. 6063-T6 ~ Front

T 1.25 c 1.26 I I 0 0 + --- 3.00 0 L '*'o * Four holes 1 Inch .210" dia. Material: .0625" Aluminum Note: Wake ten. 0 GI Mobile R

Abstract Nrpfum is a tcthcrcd \chick built for aiitonoitiws mokilc robot rcscarch. Incliidcd arc: tlic dcsign considcrations, UIC resulting design,

Two Holes. Drilled and tappod for #lo-32 0 -7 r=a (May be filed or ground) .226 Note: All measurements: +/-.016" Except Hole spacing: +/-.01

Hitch Tongue p.750 4 I I I I I I I 9 J 0 0 0 - \ 0 0 9 0 4 -1 \ 1 Four Holes I .375 dfa. Hitch Bracket One hole. .375 dia. E - .200 max . IIr- insld

+- io \ 4.00 - Four holes .375 dia. Front Material: Mild Steel Note: Make five. Measurements: +/-.020 I4 .60 1 inch U 0 Mobile Robot Lab 198.1 Tit

Appendix I1 Appendix I1 Electrical Drawings

Appendix I1

110 AC Steerlng Motor Superlor Electrlc S1 o-Syn SS400 I-iiTFij Opto-22 DC2OOP IC e kopian Model #U9YlOOO iVOC Unregulated (10A 86) ID-AC-J Opto-22

Additlonal Panic Buttons are In serles wlth the one shown litle: File: rroverl/usrlnivek/rJver/ne~tune/mreZ.dp Date: 3/6/84 IScale: NTS Approved:

'DE THREE 1.5.500 Power Supply K 4.00 inches >I, & Io - 16.100 r DC SSR and I SIDE TWO SIDE FOUR SIDE THREE SIDE THREE v2 SIDE ONE SIDE TW

START I main circuit breaker CAM1 processor connect CAM2 V deo out 71 K-. 3.0 inches -1 I E.6 inch3 .. see circuit breaker 1.626 inches diam. 1.2

0 123 0 0 0 Legal states 001 010 011 100 101 Legal states are NOT( 1 AID 2) 1 1 0 Illegal states 111 Swltches 1 and 2 cannot be on at the same

Every instrument, tool, vessel, if it does that for which it is made, is well. Marcus Aurclius

@* 0.20 Inches w/ clearance Date: 2/9/64 IScale: NTS Orawn by: Checked by: nivek 2.02 Inches dia. cutout 2.50 Inch dla. bolt circle Approved: Dwg .

IDE THREE Date: 2/9/94 !Scale: fJTS Checked by: Drawn by: nivek SIDE Approved: Dwg . No.: K-. 3.625 Inches -1 1-1 K- 3.625 inches - k76 Inchd 3.00 in

0 0 Date: 3/5/84 IScale: NTS Checked by: Orawn by: nivek 0 0 (SIDEj Approved: No. : Dwg . one inch one Inch 0 SIDE SIDE TWO THREE SIDE ONE FOUR SIDE

> 0 Center hole in plate to be threaded for the swltch. Not sure about threadlng dlameterr. Q Mobile Robot Lab 1984 No. :

4.7 K This symbol wi 1K Date: 3/6/84 IScale: NTS Checked by: Drawn by: nlvek Approved: Dwg . NO. :

Steer computer computer Manual Controller Drive + + l- sel ec When elther of the manual controller switches are moved in either directlon the Sele

computer Manual 5 VDC 'Title: neptune rover electronics camera switching circuitry - - File: ~rover~/usr/nivek/rover/neptune/mrel2.dp , Date:

Appendix 111 Appendix 1x1 On-Board Processor Software A simple controller for the Neptune rovcr. This program parses commands from the VAX or the deb

1 13asic rcscai~ch in mobilc rohotics rcquircs rcnl-world niobilc vchiclcs without wliich ninny topics arc liinitcd lo Lliought cxp."rirncnts. In