FINAL PROJECT REPORT Mechanical Engineering （机械工程项目最终报告）.pdf

FINAL PROJECT REPORT Mechanical Engineering 224 Professor Espinosa June 9, 2005 Kendra Armstrong Nick Eccles Cary Maguire Alex Taam Paul Williams Table of Contents I. Introduction II. Boe-Bot Assembly III. Servo Calibration IV. Gyroscope Calibration V. Analog-to-Digital Converter VI. Programming and Debugging VII. Results and Conclusions VIII. Improvements and Future Considerations IX. Appendix A: Servo Calibration Program X. Appendix B: LabView Program for Gyroscope Calibration XI. Appendix C: Turn Test Program XII. Appendix D: Final Path Program 2 I. Introduction The objective of this project is to use our knowledge acquired in Mechanical Engineering 224 to control a Boe-Bot along a specified path, Figure 1 – Robot Path using gyroscope sensing in a closed-loop feedback system (see figure 1). The Boe-Bot robot is mainly composed of two servo motors to operate the wheels and a Board of Education carrier board, which is controlled by a program called BASIC Stamp . Specifically, we will create a BASIC Stamp program that will use a specified voltage, which corresponds to a certain angular velocity, to control the direction of travel of the Boe-Bot. Then, using closed-loop feedback from a gyroscope and ADC (Analog-to-Digital Converter), the Boe-Bot will correct itself to travel in a completely straight line. 3 II. Boe-Bot Assembly Figure 2—Boe Bot Our Boe-Bot was brand new, therefore unassembled. First, we attached the four standoffs to the four corners of the chassis. The standoffs support the B