NAME Alan E. Kilian

TITLE Develop a Holonomic motion platform and control system.

DESCRIPTION This project will produce a mechanical device that can move about on a hard-surfaced floor while carrying enough batteries to be able to move for 30 minutes. The device will be able to move in any direction while keeping the same orientation as well as change it's orientation while keeping the same location. The device will be controlled through a ``tether'' wire from a desktop PC.

BACKGROUND I have been building machines and electronic devices for many years and have a lot of experience with these systems. This project build on the experience of project #2 ``Develop a tuning guide for PID control systems''.

RATIONALE The successful completion of a degree in mechatronics will require an understanding of mechanical, electrical and computer systems as well as the tools used to design and implement each of these systems in order to produce a machine capable of performing a specific task.

OBJECTIVES Demonstrate the use of mechanical and printed circuit board design tools at an intermediate level. Demonstrate the ability to select mechanical components, fabricate machined parts and assemble a simple working mechanical system. Demonstrate the ability to communicate with and coordinate the actions of three separate motion control systems to produce repeatable motions from the platform. Demonstrate the ability to measure and estimate electrical power consumption and select an appropriate power source.

METHODS Using the motion control system, motors and encoders from project #2, design and build a printed circuit board to control three motor and encoder systems. Research possible mechanical systems that will allow the machine to perform the required motions. Select a mechanical design, acquire or build the required parts, assemble and test the mechanical system. Develop an estimate of the required power, select and build a power system to meet the required time of operation. Tune the control system for the completed mechanical system. Write software for a desktop PC to demonstrate the required motions.

RESULT The project will result is a working electromechanical system capable of performing the required motions. It will also be desirable if the project results in a description of the system suitable for publication in a popular-press magazine.

SCHEDULE - Select a mechanical design, and acquire parts. 20 Hours
- Fabricate parts, and assemble mechanical system. 35 Hours
- Study electrical power requirements, select and implement an electrical system. 30 Hours
- Learn the electrical and printed circuit board design tools, design and build circuit boards for the project. 80-120 Hours
- Design, implement and demonstrate the software for the final demonstration. 10-20 Hours
175 - 225 Hours.
EVALUATOR Professor William Durfee, Department of Mechanical Engineering

QUESTIONS Discuss how the project demonstrates the use of mechanical and printed circuit board design tools at an intermediate level.
Does the project demonstrate the ability to select, fabricate and assemble mechanical components to produce a working machine?
Compare the level of learning demonstrated with other undergraduate work in this field.
Does the final electromechanical system meet the design criteria set forth in the description section?