Development

The project was divided into several milestones. This made the planning
and the overview of the project easier for us.

  • Project start
  • M1a System analysis
  • M1b Solution finding
  • M1c Concept decision
  • M2 Design Review
  • M3 Presentation of sub-functions
  • M4 Final report

Project start 13.09.2017! 

Already on the first day of the introductory week of our studies we were confronted with the task of building a robot. Team 07 was born!  

The task was explained to us and the goal was to write a list of requirements for the project.  

Team 01 from Buchs, was assigned to us as partner team. The task had to be accomplished with two co-opying robots.  

We had some problems drawing up the list of requirements. Too many parameters had not yet been defined, but some ideas and approaches were already forming in our minds

Until the milestone M1a on 22.10.2017, the goal was to complete the requirements list for the project and a system description.

Milestone M1b on 26.11.2017! 

Our team started to come up with ideas early on. Through brainstorming and the 365 method we looked for different solutions. With the creative and promising approaches we were able to start the next step, the concept search. after assessing the advantages, disadvantages and risks, our favourite was the concept 2.

Conzept 1: Transfer to a drop-off point

A robot transports the stones and unloads them at a drop-off point. The second robot picks up the stones at the transfer point and builds them up into a tower.

 

Conzept 2: Transfer with a swivel arm

The first robot has a gripper arm that can reach both magazines and the transfer location by means of a rotary movement. The stones are transported directly from the magazines to the second robot and transferred. The second robot builds on site and sets up the tower.

Conzept 3: Loading up and stacking combined

In this concept, both robots are very similar. The stones are taken one after the other by both robots and the tower is systematically built from bottom to top.

 

The concept decision had to be completed by 25.02.2018.

During the Specialist Weeks we were able to deepen our knowledge in the specific areas and carry out tests.

These trials and our weekly meetings have paved the way for the final concept.

During the concept decision we were in close contact with our partner team 01. Both teams agreed that this from St.Gallen (our team 07) will take over the stacking and our colleagues from Buchs the transporting.



Concept

Each robot has a separate task. Robot 1 (R1) picks up the bricks from the magazines and places them as a 3-packet at a drop-off point. Robot 2 (R2) initially takes the top of the tower and then builds the tower.



Test experiments

During the Specialist Weeks we were able to carry out various tests. For example, we were able to calculate the holding force (force with which a Duplo stone is pressed onto another stone) from the tests.



First 3D models

The first models have already been created. While our robots only have to travel in one direction, we wanted to take advantage of the nature of the Lego floor.

Moving system

Lifting and gripping system

Complete system with 4 motors



Interfaces & Sensors

We have defined the interfaces and the sensors.

Interfaces
Microcontroller MPC555

Display

Sensors

Design reviews were carried out until 08.04.2018, the end of milestone M2. The aim of the design reviews was to identify and solve problems and inconsistencies. In addition, team-spanning cooperation was improved and knowledge of the other specialist areas was deepened. At the design reviews, experts in the respective fields of mechanics, electronics and computer science were able to give us tips and advice on how to improve our robot.



07.05.2018: Our team has made some progress and we have made a lot of progress in several areas. The sub-functions of the robot were presented.



Mechanics

We could manufacture several components. A skeltal structure of our robot was already finished.

Various problems and errors could be handled and identified with the first protype



Electronics

In the electronics the circuit board was designed and ordered. Due to delays with the delivery, we could not start with the soldering and assembly of the circuit board.



Computer science

The programming could beginn! The first subfunctions were programmed and tested.

  • Display control
  • Limit-Switches
  • Servos
<div class="video-item video-item-video_5dd3d94ec47d32_62267894" data-autoplay="" data-code="joSpOIGS_00" data-type="youtube" data-responsive="true" data-width="560" data-height="315" data-params='{"wmode": "opaque", "rel": "false"}'></div>

The elements mechanics, electronics and computer science merge into one complete system. "7-Siech", our robot was baptised near the end of the project.

Soldering of the circuit board, assembly of all components and finally the genertion of the programm for the procedure were part of the last weeks. After a few ups and downs are we proud and also pleased that we are nearly finished with the project.

A documentation and a final report was written.