Copy of CDR Template 3DoT David

3DoT David Critical Design Review

Table of Contents

Project Manager: Omar Mouline

Mission, Systems, & Test: Christopher Hirunthanakorn

Electronics & Control: Kent Hayes

Design and Manufacturing: Andrew Saprid

1. Executive Summary

1.1 Project Objectives and Mission Profile

1.2 Intro to Design

1.3 Project Features

2. System Design

2.1 System Block Diagram

3. Experimental Results

4. Subsystem Design

4.1 Interface Definitions

4.2 Fritzing Diagram

4.3 PCB Design and Testing

4.4 Hardware Design

5. Software Design

5.1 Software Block Diagram

5.2 Code

5.3 Pseudo Code/ Extra Diagrams

6. Verification and Validation Test Plans

7. Project Update

7.1 Updated Work Breakdown Structure

7.2 System Resource Reports

7.3 Updated Project Schedule

7.4 Burndown

Experimental Results

Subsystem Design: PCB Schematic

Torqe Calculation

Power Rating = 5W

1hp = 746 W

Therefore our motor has 0.0067hp

If torque T = (5252*hp)/rpm

and rpm = 150000

then T = 0.000318 Nm

if rpm = 16666

T = 0.00286 Nm

VCC and GND

FSR Circuit

Burn Down

Burn down task completion table

Schmitt Trigger

Experimental Results: IR Testing

Full View Of Circuit

IR Test Fritzing Diagram

Gantt Chart

Mission Profile

Schmitt Trigger Table

IR Detector

IR Emitter

Burn Down Chart

IR Emitter

Speaker

The Mission Profile for the 3DoT projects is to perform robotic combat. With regards to the College of Engineering Health & Safety Policy, the projects must meet the following Requirements:

Experimental Results: Flex Sensor Resistor

Subsystem Design: Full Setup Fritzing Diagram

FSR Fritzing Diagram

Resistance Table for Degrees Bent

1. The game will take place in ECS 315 in 6x6 ft area on the linoleum floor

2. Go head to head with 3DoT Goliath in an indoor game of laser tag

3. Emitter must hit the detector in a straight line from a maximum distance of 5ft.

4. Every time a player is "tagged", a sound will go off

5. When either robot has been "tagged" 3 times, the bot will shut down, indicating the game is over.

6. The entire game will last from 10-15 mins

Full View of FSR Testing

Updated Interface Definitions

Experimental Results: Motor Current Measurement

Motor Driver Circuit Connection

• Connected all components and had both motors run simultaneously in order to measure the current which was 35mA
• If the max voltage is 5V, then the total power being dissipated by the motors is 175mW

• 132 min/12 = 11 mins per leg
• 8min / 4 = 2 mins per connector
• 12min/6 = 2 mins per joint

Motor Driver Frizting Diagram

Chasis & Gear View

Printing Time

Project Schedule

Leg Study

Circumference of the 3 cm gear

C = 2πr = 2π(0.76) = 4.78 cm

Given 5 degrees for the initial lift

sin(5) = x/4.78

4.78 x sin(5) = .42 cm

The length of the leg is 5.3 cm

Final lift is 13.30 deg

4.78 x sin(13.30)

= 1.1cm

1.1cm - .42cm

= .68 cm off the ground

Updated System Block Diagram

• The layout of the pcb was determined by the how sensitive the signal was. Power input was placed away from sensitive signals and had a trace width of 32mils.
• The FSR signals were the most sensitive but due to physical trace routing limitations the inputs were placed slightly closer to the power traces but in theory will perform as well.
• The mounting holes are set to a standard 86.6mils (standard M2 screw size) because our division manager (kevin) has them in stock.

Updated Work Breakdown Structure

3DoT David Model, Gears, and PCB Box

Subsystem Design: PCB Layout

The New Design

Our team with the approval of the customer decided to change the design of the Spider bot.

• The mechanical part of the new design is simpler to design for an electrical engineer.
• We have space to make improvements from the main design.
• The printing time will be less than the previous one

Software Flow Chart

Project Features

Validation Test Plan: Print Time Restriction Test

Power Report

Validation Test Plan Overview

Validation

Verification

Arduino Code

Validation Matrix

Verification Test Bluetooth

Verification Matrix

Main Loop of ArxRobot Firmware

Custom Command Definitions

Project Objectives

Updated Software Block Diagram

Mass Report

The objective of 3DOT David Spider is to use scaled model of the Hexbug prototype to produce a cool project for the DIY community. The preferred method of control is to use Bluetooth communication between the remote-control (Iphone or Android) and the microcontroller on board of the spider The finished product must meet the following Program and Project Requirements:

Cost Report

Motor Driver Functions

IR Emitter/Detector Code

System Resource Reports

Verification Test Plan

• System processing using a microcontroller (either the 3DoT Board or Sparcs Macro.)
• Total production cost must not exceed $80.00.
• Short 3D Printing ( Not exceeding 6 hours and less than 2 hours for each single print)
• Control The Spider Bot from Arxterra app (Android or iPhone) using bluetooth
• 3Dot david must be able to perform a safe interactive game with other projects in a specific field and date as Defined in mission profile