MAIN DESIGN CONCEPT
In order to achieve the requirements of the multi-shoot cannon project, we came up with a design that’s mostly composed mainly of three systems. At first, we built the overall structure of PVC material that has two degrees of freedom that are actuated by two stepper motors and calibrated using potentiometers. After that, a firing mechanism was created using a rotating wheel driven by a dc motor. The ballistic balls are fed to the rotating wheel through a hopper is pushed and pulled by a spring-rod mechanism which is actuated by a servomotor. Then, a vision system was built using a Wii camera to detect targets and IR-LEDs to illuminate targets.
Firing Mechanism Design/Structural Design/Machining Fabrication/System/Testing/CAD Modeling/Documentation –Webpage & Public Demo.
Structural Design/CAD Modeling/Electronics/Testing/Programming/Documentation -Final Report.
Responsibility: Vision Sensing/Testing.
Joon Seob shin
Labeled Pictures of overall system with description
|Figure1: The Overall System|
|Figure2: Firing Mechanism&Hopper|
|Figure3: Firing Mechanism|
Pictures and descriptions of subsystems
The Firing Mechanism
The mechanism is made of a rotating wheel driven by a dc motor as shown in figure 2&3. It also has a servomotor and a srping-rod mechanism thats is used for feeding balls and pushing them into the rotating wheel.
The Tracking Mechanism
The main fuction of it is holding the oeverall systems which includes the vision and firing system. Also, allowing the overall structure to make two movements for panning and pitching. Both degree of freedoms were actuated using stepper motors and calibrated using potenitometers.
The Vision System
A wii-mote camera was used to acquire target coordinates and 10 arrays of IR-LEDs were used to illuminae targets so that they can be tracked to a reference point on the testbed.