Date:
Name: Joe Bari
TA: Mike Pridgen
Thomas Vermeer
Instructors: Dr. A. Antonio Arroyo
Dr. Eric M. Schwartz
Department of Electrical and Computer Engineering
EEL 5666
Intelligent Machines Design Laboratory
Weekly Report 5
This week I got my platform assembled. The base is the substructure of the Roomba. The biggest advantages of the Roomba platform are the pre-formed wheel spots and battery holder. I ripped out the wheel mount system and remounted the wheels. The old suspension system had a lot of give and would change the height of the robot with weight. I needed a fixed height due to my jewel scoop.
I made a polycarbonate top level that is mounted on four 6” bolts. This is where the CMUcam, IR and bump sensors will be located. All of those sensors are either in hand or on the way. The LCD screen and status LED’s will also be mounted on the top level.
I have done some preliminary programming for basic bump sensor reactions. My motor driver board should come in either today or tomorrow, so hopefully soon I can get basic obstacle avoidance accomplished.
I am still in the design phase for the jewel scoop. The substructure has a big gap in the front (where the vacuum once sat) that would be perfect for housing the scoop. I am planning something with large “teeth” that would be able to slide underneath the jewel and lift it up like a forklift, getting rid of the need for an opposition mechanism to secure the jewel. Also, by having multiple open spots, I would need less precision in approaching the jewel. Preliminary, very rough sketches below.
