Compressor up and running!!

March 23, 2014 Leave a comment

Today we had another successful day.  Getting our 60 Gal Craftsman compressor wired and plumbed.  A new drop is install in the middle of the garage and we are ready to use all the air tools!!!!

Bennett also stripped the blown LT1 and found out we ruined 2 pistons/ cylinders so that engine is useless.  We will be making it into a table!

Also we are up 1.5 brooms

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The First Steps of Sabertooth and MQP awards!

April 23, 2011 Leave a comment

We are beyond excited to share with you Sabertooth’s first steps:

The footage here is merely proof that we have succeeded in having full control of our system. As we calibrate it further, we will be giving Sabertooth much more control. What we are currently doing is similar to training a baby how to walk, stay tuned for more!

We would also like to share that the team has won the following awards:

  • Provost award in the Robotics Engineering department
  • 3rd place in the Mechanical Engineering department
  • 1st place in the Mechanical Engineering department with a Robotics concentration
  • SME Manufacturing award
Congratulations team, the hard work is finally paying off!
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St. Pierre Joins the Team!

April 20, 2011 Leave a comment

The team would like to welcome St. Pierre to the team. The guys over in Worcester are going to be helping out with some of our recent cabling issues by machine swaging all of our cables correctly. We encourage you to check them out at http://www.stpierreusa.com/index.html

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Sabertooth is born

April 11, 2011 Leave a comment

Little beautiful 275 pound, 5 ounce baby Sabertooth finally makes her debut.

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Welcome to the team!

April 1, 2011 Leave a comment

The team has acquired some new help for D term!

We welcome Brennan Ashton and Paul Heslinga to team Sabertooth!

 

Paul has been a huge help with assembling the robot , welding the frame together , and electrical wiring. He’ll also be helping out with some of the software architecture.

Brennan is going to be helping out with implementing the control and communication protocols of the robot. Both Paul and Brennan will be a huge help as this project comes to the end of the school year. Welcome!

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Hip Actuators Working

March 28, 2011 Leave a comment

The past couple weeks the team has been working to fully test and assemble a hip actuator which will allow the robot to have camber in the legs. This past night we successfully tested the actuators for the first time with a shoulder plate on the robot. The video below shows the test. The testing was done off a heavily current limited power supply. In the real robot the hip will be able to complete the full 10 degree swing in ~1 second.

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Saber Board PCB Design

March 28, 2011 Leave a comment

In an effort to properly interface with the National Instruments SBRIO both mechanically and through software, the team developed a PCB.  The PCB was designed mainly as a breakout board, but also incorporated operational amplifiers for sensor inputs.  The PCB design was developed in the EAGLE Layout Editor utilizing two of the 50pin connectors on the SBRIO.  One of these connectors was primary used for Analog Inputs and the other was used for Digital I/O.  In addition the board was designed to have a 5v input rail in order to provide the voltage necessary to run the many sensors attached to it.  The final schematic for the Saber Board can be seen below.

With the schematic complete, it was necessary to create the footprints for the connectors which would be used.  We used Digikey PN # 67-1062-ND to interface with the 50 pos cable from the SBRIO and PNs #455-2248-ND/455-2219-ND to have secure three pin molex style connectors.  With these connectors the board layout was created and the programs auto routing feature was taken advantage of.  While the auto routing feature was not perfect it did save some time.   Two of the most important things that were done to the auto routing were to eliminate all sharp angles and to create both a ground and power plane on the top and bottom of board respectively.   These planes also served to help reduce both high and low frequency noise on the system.  The final board layout that was compiled can be seen below, the red lines represent traces that were placed on the top and the blue lines are the traces on the bottom.

We printed our boards with 4PCB and couldn’t have been happier with the return time.  We had our boards in head less than a week later.  The boards were then assembled and tested as seen below.

While we were working on this PCB externally to the SBRIO, there was also a development plan for the LabView code which would interface with the PCB.  The VI for this interface was setup to mimic the physical appearance of the PCB with the same naming scheme to ease the overall interface between the PCB and SBRIO.  This will allow future calls to the I/O pins to be intuitive and reduce the amount of errors.  The VI can be seen below and as you can see has the same row/ column layout as the physical PCB.