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Exit Presentation Sarah Frey & Aaron Shepard Mentors: Jim Neilan, Matthew Mahlin, Iok Wong & John Mulvaney

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Exit Presentation Sarah Frey & Aaron Shepard Mentors: Jim Neilan, Matthew Mahlin, Iok Wong & John Mulvaney Exit Presentation Sarah Frey & Aaron Shepard Mentors: Jim Neilan, Matthew Mahlin, Iok Wong & John Mulvaney 08/20/2020 1 Sarah’s Intro Currently an Electrical engineering student at the University at Buffalo Is a member of a CubeSat lab at school Fun Fact: Was born on a ski trip 08/20/2020 2 Aaron’s Intro • B.S. Biochemistry (Claflin University, 2012) • Left medical school after first year because I wanted to work on space stuff • Current Electrical Engineering student at Clemson University (B.S. 2021, MS 20??) • Polydactyl ( born with 6 fingers on each hand) 08/20/2020 3 Presentation Outline • ASSEMBLERS Project Overview (Sarah and Aaron) • Stewart Platform (Sarah) • Modular Connector Cable Reel( Sarah) • End-Effectors(Aaron) • Test Articles (Aaron) • Modular Connectors (Sarah and Aaron) 08/20/2020 4 Nomenclature SP- Stewart Platform Stack – Multiple connected Stewart Platforms (Usually 4) EE- End effectors SPA- Solar Panel Array OTS- Off The Shelf SAS – Strut Attachment System (End effector) 08/20/2020 5 ASSEMBLERS Overview • Assembly of Space SystEMs By using Locomotion and Error-correction for RobustnesS (ASSEMBLERS) • Modular, autonomous, in-space assembly architecture • Stewart Platforms (SPs) stack together and form a larger manipulator 08/20/2020 6 Reference Mission • SPs form 2 stacks and connect to truss manipulating end effectors • Stacks assemble 10m tall solar panel arrays (SPAs) on lunar surface Platt Platt er er 08/20/2020 7 Stewart Platform Electronics and Cable Reel Outline • ASSEMBLERS Power Subsystem Overview • Stewart Platform Electrical Design • Modular Connector Cable Reel Design 08/20/2020 YOUR NAME 8 ASSEBLERS Power Subsystem Overview 08/20/2020 YOUR NAME 9 Stewart Platform Electrical Overview Modular interface Electrical Housing Detail IMU Motor Drivers Linear Actuators String Potentiometer Electrical Teensy SP Power Board Housing Jetson NANO Tindie Breakout Modular interface Board 08/20/2020 10 Stewart Platform Electrical Design SP Power Budget SP Wiring Diagram SP Electrical Housing Components 08/20/2020 11 Modular Connector Reel Design • The reel and guider p-clip system will be used to ensure there isn’t tangling of cables when the SP actuates • Connects power and data wiring to modular connectors to SP, base or end-effectors 08/20/2020 12 Internal Cable Take-up Interior (enclosed) Power spring is at the center of the reel Power or data cable will go from the reel through this hole Outer-rim (not-enclosed) to the SP column system Power or data cables will go through these holes to the SP column system 08/20/2020 13 Cable Reel Location • 24 V Bus Power Reel • 12 AWG wires for VBUS USB Reel and GND • SP Jetson Nano • USB 3.0 Cable #1 • End-effector • USB 3.0 Cable #2 • Cable Length Required: P-clips are used around the • At full actuation: about reel and housing to route the wiring through the column 3-4 ft Column System system 08/20/2020 14 Steward Platform Electronics/Cable Reel Summary and Future Work Summary Future Work • Chose the electronics for the SP • 3D printing the reel model prototype • Order prototyped PCB for power • Chose a cabling system for the board, modular connector SP prototype • Test the electrical and power • Ironed out the electrical and subsystems power subsystems, power board design 08/20/2020 YOUR NAME 15 End Effector and Test Articles Outline • End Effector Overview • Push Pin End Effector Design • End Effector Camera Selection • Test Article Assembly 08/20/2020 YOUR NAME 16 End Effectors Overview General Truss Grabber Grabs and secures the truss/SPA to the Assemblers. Utility Jointer End Effectors* Connects truss segments together. Will be covered in next slide Jigging End Effectors Holds and manipulates truss assembly 08/20/2020 17 Push Pin End Effector For Truss Assembly OTS Male Truss Connector Linear actuator Guiding collar Locking pushpin Sloping feature presses unlock button as EE connects to pushpin 3d Printed truss adapter Pushpin EE Advantages: • Simple design • Uses OTS components (Male truss connectors • Adapter is easy to manufacture (3D-Printing) • Locking pushpins are cheap (~$24 per pin) 08/20/2020 18 Push Pin EE Mechanism 08/20/2020 19 End Effectors Camera Selection (7) Azure Kinect Interchangeable Lens / Power Num Camera Option Main Sensor Resolution @ FPS Internal Processing / Data Transfer Type Additional Sensor included? Price Size (mm) Mounting Type / View Angle Requirement up to: 1280 x 720@30 up to: Built-in Lens / inset lens / MIPI ports or USB3 ( RGB sensor (1920x1080@30), IMU $179, $199 (with 1 RealSense D435 Active IR Stereo 90 x 25 x 25 848x480@90FPS 90deg USB-C* 3.1 Gen 1) (optional) IMU) up to: 640x480 @75FPS up to: I2C, CAN, and Asynchronous Serial buses. Also 2 OpenMV Cam H7 OV7725 VGA image yes / M12 mount / no, global sensor shutter (optional) $65 3.6~5.0 V 45 x 36 x 30 320x240 @150 SPI bus for streaming data (80Mbs) Long Wave Infrared I2C (Camera control), SPI (video and temp data). 2.8 V, 1.2 V, 2.5 V 10.50 × 3 FLIR Lepton Camera 80 x 60 ~ 9 FPS yes / Can use USB with a seperatre breakout board No $195.95 to 3.1 V IO 12.7 × 7.14 quote request 4 BlueFox (-1013) CMOS-1013C up to: 1280 x 1024 yes / CS or C mount / USB 3.2 Gen 1 (5 Gbit/s) one variant has greyscale w/ infrared 3-24 V +/- 1 V sent to company mvBlueCOUGAR- Hardware preprocessing on-board (FPGA) / quote request 5 EV76C560 1280 x 1024 yes/ C, CS, S / 12 ~ 24 VDC X102eC Gigabit Ethernet (1000MBit/s) sent to company yes / C-, NF-, S- mounts / basic image processing / RJ45, PoE PoE or 12-24 VDC 24 x 24 x 6 Lucid Vision Labs PH Sony IMX273 CMOS 1440x1080 @77 No $325 X016S depends on lens industrial/FFC, PoE external 27.35 up to: 4096 x 3072 @15FPS , up Built-in Lens / inset lens / IR Depth Camera (1024 x 1024 @ 15 Type-C cable or in 103 x 39 x 7 Azure Kinect RGB Camera USB 3.0 $399 to:3840 x 2160@90FPS 90deg FPS) , IMU, microphone array -box supply 126 8 Raspberry Pi Camera Sony IMX219 1920x1080@30FPS 640x480@90FPS Built-in Lens / H62.2xV48.8 Raspberry-Pi (required) / V4L2 driver (Linux) No $24.99 3.3V 25 x 24 x 9 Module v2 deg Raspberry Pi HQ 1920x1080@30FPS 1280x720@60FPS yes / CS or C mount / depens $49.99 (lens 38 x 38 x 9 Camera Sony IMX477 640x480@90FPS on lens Raspberry-Pi (required) / V4L2 driver (Linux) no exclusive) 3.3V 18.4 (9) Raspberry Pi HQ 08/20/2020 (1) Intel RealSense D435 20 General Top Down Assembly Sequence 1. SP Stack 1 picks up SPA segment 2. SP Stack 1 puts SPA on jig/platform 1. Forks: base platform, dumb jig, smart jig (SP) 3. SP Stack 1 grabs second truss segment 4. SP Stacks connect the two truss segments together 1. Forks: the two stacks are used to align trusses, smart jig holds trusses in place for locking, dumb jig allows for passive holding of trusses while aligning 5. Truss segment(s) get adjusted on jig/platform to make room for the next segment 1. Forks: stacks pick up and move truss body, jigs slide or walk the truss, stacks push the truss along track 6. Repeat 4-6 until one truss segment is left (if shorter truss segments used) 7. SP Stack 1 attaches last truss segment 1. Forks: segment attaches to a small segment already on the base (angled), segment gets attached to truss and then base (or vice versa) 8. Truss is stood up by some means 1. Forks: Stacks pull up the truss, truss starts at angle with smart jig to help tilt, lead screw on base interface pulls up truss 08/20/2020 21 Top Down Assembly With “Dumb” Jig Initial workspace Stack 1 grabs SPA Truss SPA truss is placed in jig Stack 1 pushes trusses 1+2 away from the base Stack 1 connects truss 2 08/20/2020 YOUR NAME 22 Top Down Assembly With “Dumb” Jig Part 2 Stack 2 stabilizes trusses 1 +2 Stack 1 places base truss at an angle. Stacks 1 and 2 connect trusses 1+2 to base truss Stacks 1 and 2 connect trusses work with base mechanism (power screw) to erect the assembly 08/20/2020 YOUR NAME 23 Truss Power Options 1. Individual Truss Connections 2. SAS As Power Plug • Electrical connections made • One SAS attached to SPA with mechanical truss initially connections • When SPA placed on jig, one SP stack drags other • Can use integrated electrical half to holding location Spool connections or an external • Final step after tilting is wiring harness plugging in SAS connector 08/20/2020 24 End Effector/ Test Article Summary and Future Work Summary Future Work • Push pin EE offers a simple • Prototype push pin EE design solution for securing truss • Evaluate EE mounting options connections for the Azure Kinect • Azure Kinect was selected as EE • Collaborate with DCS team to camera because of its high quality further develop test article color sensor assembly sequence • The M&E team developed a • possible test article assembly Select truss powering option sequence 08/20/2020 YOUR NAME 25 Electrical Connector Outline • Morphology • Overview • Designs • Interfaces 08/20/2020 26 Electrical Connector Morphology Type Requirement Option 1 Option 2 Option 3 Option 4 Large gage wire bus at 24V-28V with Electrical 1.0 Shall pass power through the connection for Large gage wire bus at 12V stepdown to 12 V for each Linear SP to others actuator Access to modular connector electrical Electrical connection is passively Electrical 2.0 Shall have an optional manual connection Extra External connector that can connection provided to human connected by mechanical mate, but a for human operators be made by human operator manual disconnect/interrupt is operator provided to isolate modules 3.0 Shall electrically actuate mechanical Distributed Stepper motors / Electrical connection linear actuators Single geared
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