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A Multi-Weapon Auto Aiming and Trigger System for Rapidly Deployable Armed Support Robots

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A Multi-Weapon Auto Aiming and Trigger System for Rapidly Deployable Armed Support Robots Project Number: SSN-MQP-BLKI A Multi-Weapon Auto Aiming and Trigger System for Rapidly Deployable Armed Support Robots A Major Qualifying Project Report submitted to the Faculty of WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science in Robotics Engineering & Mechanical Engineering by Sabrina M. Varanelli Robotics Engineering Mechanical Engineering Class of 2010 Date: April 29, 2010 Project Advisor: Professor Stephen Nestinger Project Co-Advisor: Professor Michael Ciaraldi 1. Robot 2. Weapon 3. Gun 4. System 5. Integration ABSTRACT Current weaponized robotic systems are too expensive for use by law enforcement agencies and yet are being demanded more and more by these agencies to augment existing human teams and to help expedite dangerous missions. In conjunction with Black-I Robotics Inc., this project developed a low-cost robotic device capable of accurately and safely firing a variety of semi-automatic weapons at stationary targets. The project involved the formulation of project specifications as well as the design, fabrication and testing of the device. This system will be further developed by the company and potentially mounted on the arm of a Black-I Robotics' LandShark robotic platform and to increase the marketability of their current LandShark robotic platform for use by law enforcement agencies. i ACKNOWLEDGEMENTS This project would not have been possible without the support of the following individuals: Stephen Nestinger Michael Ciaraldi Eben Cobb Ken Stafford William Michalson Taskin Padir Michael Manning Russ Morin Art Dutra Greg Lyons ii CONTENTS Abstract ............................................................................................................................ i Acknowledgements ......................................................................................................... ii List of Figures .................................................................................................................. v Introduction ..................................................................................................................... 1 Project Motivation ............................................................................................................ 2 Methodology .................................................................................................................... 5 Systems Approach ....................................................................................................... 5 Work Distribution ......................................................................................................... 7 Deliverables ................................................................................................................. 7 Meetings & Status Updates ......................................................................................... 7 Design Reviews ........................................................................................................... 8 Sponsor Presentation .................................................................................................. 8 Project Phases ............................................................................................................ 8 Project Milestones ....................................................................................................... 9 Project “Inch-Pebbles” ............................................................................................... 10 Background Information ................................................................................................ 10 Existing Weapon-Mounted Robotic Systems ............................................................. 10 Automatic Firing Systems .......................................................................................... 14 Joint Architecture for Unmanned Systems (JAUS) .................................................... 15 Project Requirements .................................................................................................... 17 General Project Specifications ................................................................................... 17 Problem Statement .................................................................................................... 17 Goal Statement .......................................................................................................... 17 Functional Specifications ........................................................................................... 17 Design Specifications ................................................................................................ 18 Company Design Priorities ............................................................................................ 22 “COTS” Usage ........................................................................................................... 22 Cost ........................................................................................................................... 22 Simplicity ................................................................................................................... 22 Safety ........................................................................................................................ 23 “Generic-ness” of the System .................................................................................... 23 Weight ....................................................................................................................... 23 Design Matrix ............................................................................................................. 23 iii Design ........................................................................................................................... 24 LandShark Simulation Testbed .................................................................................. 24 Trigger Actuator System Design ................................................................................ 26 Aiming Mechanism .................................................................................................... 32 Mounting Method ....................................................................................................... 43 LandShark Interface .................................................................................................. 48 Vision System ............................................................................................................... 50 Design Results .............................................................................................................. 51 Work In Progress........................................................................................................... 55 Pitch Thrust Bearing Removal ................................................................................... 55 LandShark Mount Simplification ................................................................................ 56 User Interface ............................................................................................................ 56 Completion of System Assembly ............................................................................... 57 Completion of System Programming ............................................................................. 57 System Testing .......................................................................................................... 58 Suggestions for Future Work ......................................................................................... 58 Gun Mount Rubber Research .................................................................................... 58 Re-Design of the Hinge ............................................................................................. 58 Weapon Safety Locks ................................................................................................ 59 Recoil Testing ............................................................................................................ 59 Conclusion .................................................................................................................... 60 Appendices ................................................................................................................... 61 iv LIST OF FIGURES Figure 1: Survey Results of Law Enforcement Robot Use ............................................. 2 Figure 2: Device Systems-Level Diagram ...................................................................... 6 Figure 3: Qinetiq/Foster Miller Talon Robot with a Benelli M4 Mount ........................... 11 Figure 4: Quinetiq/Foster Miller SWORDS Weapon-Mounted Robotic System ............ 12 Figure 5: Northrop Grumman ANDROS F6A with Shotgun Assembly ......................... 13 Figure 6: Packbot Equipped with a First Responder Kit ............................................... 14 Figure 7: BMF Trigger Actuator .................................................................................... 15 Figure 8: View of the Land Shark and Current Arm Configuration ............................... 21 Figure 9: M4 Benelli ..................................................................................................... 21 Figure 10: FN 303 Less Lethal ..................................................................................... 21 Figure 11: Tippman 98 Paintball Gun ..........................................................................
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