Users'
Manual
Rhino Robotics
Title
Vermont Technical College
Electro mechanical Projects I & II
DATE: 12/06/03
PARTNERS: Adam Ranney & Ryan Kittredge
Chapter I
Introduction:
Rhino the robot is a robot that demonstrates the usage of feedback
loops. This primarily is a tool used by the students at Vermont
Technical College to experiment with and to be able to program the
robot. It also is ideal
for Vermont Technical College to set up at open houses for a
demonstration. The Rhino is capable of picking up small objects
with its hand grip. The Rhino can be operated in full manual
mode, automated open - loop, automated closed – loop with good design
feedback, or closed – loop with poor designed feedback.
Mechanical Features:
The Rhino is roughly 12 inches wide x 30 inches tall x 24 inches long
when the robot is expanded out completely and the base can rotate about
300 degrees. It is capable of collapsing to about 12 inches wide
x 20 inches tall x 16 inches long. There are several different
joints on the Rhino which
consist of a waist, shoulder, elbow, wrist, hand, and hand rotate
movements. The robots frame is built out of steel and sits on a
wooden base.
There are several different gear trains that maneuver the different
parts
of the Rhino.
Electrical Features:
There are six different motors that run the Rhino. The waist,
shoulder, arm, wrist, and wrist rotate are all powered by 12 V D.C.
electric motors. The hand is run by a 24 V D.C. electric
motor. The Rhino has a power supply that is capable of powering
each motor and other necessary electronics for the robot.
Potentiometers are mounted at six of the different
axis for position feedback sensors for the Rhino. There are six
different micro controllers that talk to each of the six motors
separately.
Computer & Software Features:
A P.C. is required to run the Rhino in one of the automated modes. No
P.C. is required to run the Rhino in full manual mode. A main
program will appear on the P.C. that will allow the user to operate the
Rhino. The main program is a C – Programming basis. The main
program asks the user
to type in a specific angle for a specified joint given the boundaries
and
limitations of the robot. The information the user types into the
P.C.
corresponds to talking to the robot. What ever is entered into
the
P.C., the Rhino will move to the desired position.
Chapter II
Operation of the Rhino:
Manual Mode: ( Ideal for maintenance or troubleshooting.)
Place the Rhino on a flat surface clear of any other objects or people
to allow clearance for any desired movement. A P.C. is not
necessary
to move the Rhino in full manual mode. Hook up wires from manual
switch box to specified motors. Connect the power supply to the
switch box, than plug in the power supply. Push toggle switches
in one direction to move specified parts of the Rhino. Push the
switches the opposite way to reverse the direction you want the Rhinos
parts to move in.
(See drawings for further information.)
Automated Modes:
A P.C. is necessary to run the Rhino in any of the automated
modes. Place the Rhino on a flat surface clear of any other
objects or people to allow clearance for any desired movement.
Hook a P.C. up to the Rhinos electronics board. Hook up the
Rhinos power supply to the electronics board. Turn on the P.C.
and load the Rhino main program. Turn on the main power for the
power supply and the rest of the system.
Select a mode that is desired from the user. The user can choose
from
the main menu to run a tutorial, demo, or programing. A tutorial will
take
the user through an example of how programing should be done on the
rhino
and show what the different parameters for the machine are. The
demo
mode will allow the users to run the Rhino in open - loop,
closed – loop with good designed feedback, or closed – loop with poor
designed feedback. If the user selects programming, then the user
is allowed to program a routine that the rhino needs to operate in from
their desire.