RBE 2001 - Actuation


The Course


RBE 2001 is the first in a 4 part sequence of robotics classes at WPI focused on the mechanical design and analysis of physical systems to interact with the world.

The Challenge


Build and program an autonomous robot capable of navigating a field representing a mock nuclear site, moving fuel rods between different tubes using information given over a bluetooth communication protocol.

Design


Robot Characteristics


  • 4 wheel drive with 2 powered wheels and two unpowered encoder wheels for accurate position tracking

  • Single joint arm to hold 4-bar gripper and pivot to both horizontal and vertical storage tubes

  • 4-bar linkage powered gripper to pull in fuel rod in a straight line. Derived off of Hoekens Linkage

  • Point to point navigation using odometry data from encoders and detection of black lines on field

Robot Assembly Animation

Technical Documentation


Project Report

For more details please see the Project Report complete with decision making rationale, mechanical analysis, and code documentation.


Code

To view the code please visit the projects GitHub.


CAD

To view the CAD please visit the projects GrabCad.