RBE2002: Unified Robotics II: Sensing

Testing an Op-Amp on an Oscilloscope

Viewing Signal Behavior on an Oscilloscope

Various Resistor Gains on Op-Amps

Using a Laser Cut Strain Gauge to measure how much energy and bend we're putting into the material.

General Box Structure of our Window Washing robot. This will provide the general framework for our Robot.

Dimensioning various components on AutoCAD using a digital caliper. Currently designing the bracket for our Eraser.

Implementing a linear slide so we can introduce the eraser to the surface of the board with various pressures.

Lots of calculus involved to determine variables we needed to measure and coefficients we would need to use.

Our Linear Rack-And-Pinion Eraser System

Thats a sturdy chassis! We stand by our design!

3D Printing the Eraser-Mounting Bracket

AutoCAD Drawing of what the proposed eraser bracket will look like. Simple, lightweight, conservative on plastic, and functional.

WPI does indeed love its robots!

Excellent print from my Prusa i2

Testing the fit, deployment, pressure applied to the wall, and observing any problems.

Installing Debounce Circuits using Resistors and Capacitors. We dialed in potentiometers for exact resistances.

Robot Wired Up and Bracket Mounted

Extending Feature of the Eraser Bracket

We had to incorporate one four-bar mechanism, so we implemented it on our Eraser Bracket - which can be seen in the lower position of the rotation. This complex motion helps it with cleaning as well.

Side profile of where we mounted the Arduino Microcontroller and weighing in the robot to see if it is legal for competition.