1. Main Design Concept
Team JABS designed our shingling robot to be able to attach shingles to all sides and corners of the roof and to fit inside of a 2x2 square as detailed in the specifications given. Our robot contained four primary subsystems: drive system, vision system, shingle manipulator, and peeling. As seen in the complete CAD Model in Figure 1, the motors, batteries and electronics were all contained on the robot to ensure the robot was fully autonomous and not tethered. Each of the components was designed to be inside of the robot and were laser cut for easy mounting. The electronics board, batteries and laptop had parts made to mount it directly to the robot. Each of the sensors had a mount that would allow for easy attachment – the digital IR sensors had tight fit made for that sensor and the limit switches were mounted with 4-40 screws. The nail gun – by far the biggest element of our robot – was mounted in the dead center of the robot to drive over the shingle when it was placed and nail in the correct spot given.
Figure 1 - Photo of Team JABS' Shingling Robot
2. Team Member Responsibilities
- Jon Boerner was primarily responsible for the shingler’s vision systems and code. Jon also assisted with fabrication and CAD, as necessary.
- Andrew Burks was primarily responsible for mechanical design; he also created the working CAD model of the robot and performed significant assembly work.
- Ben Streeter was primarily responsible for mechanical design, took lead on fabrication, and assisted with assembly.
- Samantha Tan was primarily responsible for the electrical hardware systems on the robot and the assorted sensing mechanisms.
3. Labeled pictures of the overall system with description
Figure 2 - Photograph with Significant Subsystems
Figure 3 - CAD Rendering
Figure 4 - Functional Block Diagram
4. Pictures and descriptions of the subsystems
Figure 5 - Drive Subsystem
Figure 6 - Results of the Vision System Used for the Robot
Figure 7 - CAD of the Peeler Subsystem
There are two degrees of freedom in the elevator subsystem, shown in Figure 8. The first degree of freedom allows the entire system to slide up and down the side of the robot. This is accomplished by gearing a DC gearmotor to a pair of pinion gears nested between a pair of rack gears. The rack gears are fixed to the robots frame, so when the counter-rotating set of pinions begins to turn they force the elevator up and down the robot.
Figure 8 - Diagram of the Rollers and Elevator
5. Video of the system in action
Included below is a link to our team's summary video: