DBauer

Project Proposal

 

InMoov Robot Motorized Stand

 

CCET 4610 Spring 2018

 

Developed by: Ben Thrift and Dillon Bauer

 

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1. Introduction

 

The InMoov humanoid robot will be a valuable recruitment tool for SUU, the College of Science and Engineering, and the Department of Engineering and Technology.  Something that is not included in the existing InMoov design is a method of locomotion.  The perception abilities already implemented in the InMoov robot design enable both visual and Kinect motion tracking, and the information can be used to give the robot some control over its own movement.  Ben Thrift will act as project manager, and together with Dillon Bauer has designed and built the robot stand.  The design and implementation of the stand will serve as learning experience in design, model testing, and project management.  Figure 1 contains images of the InMoov robot and some stands that have been produced by others in the InMoov community.

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1. Problem Statement

 

The InMoov robot will require a stand for display and storage, and the InMoov design does not have the ability to move from location to location without being physically carried.  The robot must be able to shift its weight without falling over to avoid damage, therefore any stand must be stable enough to accommodate the full range of motion of the robot.  The current InMoov robot project does not include the display legs, however legs might be added as a part of future projects with the InMoov robot.  The stand should be designed such that it will not interfere with the addition of legs.

 

1. Proposed Solution

 

A motorized stand for the InMoov humanoid robot will be designed in SolidWorks and Autodesk Eagle.  Funding will be sought to build and incorporate the design into the InMoov robot project, as the motor and extra electronics were not included in the InMoov project budget.  At minimum a stand and basic support system will be built, and should funding be unavailable at this time the full design can be implemented as part of future projects with the InMoov robot.

 

A GoFundMe has been established for the InMoov robot to procure the needed funding to fully produce the motorized stand, and to obtain funds for Ben to build a second InMoov robot with funding priority going to the stand.  The STEM center at SUU offered more funding for the InMoov robot, and the funds may be available to produce the stand.  Grant opportunities through SUU may be available as additional sources for funding.  Other funding opportunities will be explored.

 

1. Plan

 

The following is a breakdown of the schedule for the InMoov robot with rough time estimates. A more complete schedule is included in the attached spreadsheet.  Optional items are funding dependent.

• Research (19 hours)

  • Funding [Both]

  • Weight and stability requirements [Dillon]

  • Motor and controller [Ben]

  • Materials [Dillon]

  • Electronic interface [Ben]

  • Stand connection [Dillon]

  • Robot Storage Locations [Ben]

  • Budget [Both]

• Concept Design (5 Hours) [Both]

  • Overall concept design

  • Determine parts

  • Divide part design responsibilities

• SolidWorks Design and Build (24 Hours)

  • Frame [Dillon]

  • Connection to robot [Dillon]

  • Wheels [Ben]

    • Design Wheel Mounts

    • Design Drive Assembly

  • Components Housing [Ben]

    • Design Motor Seat

    • Design Electronic Housing

• SolidWorks Assembly (7 Hours)

  • Build Assembly

  • Test Assembly [Both]

• Electronics (8 Hours plus print time)

  • Design Circuit Schematic in Eagle [Ben]

  • Design Circuit Board [Ben]

  • Print Circuit Board [Ben]

  • Assemble Circuit [Both]

• Presentation (7 Hours)

  • Apply for Festival of Excellence

  • Make Poster [Both]

  • Participate in Festival of Excellence [Both]

  • Share Design with InMoov Community [Ben]

• Actual Assembly (*Optional depending on Funding), (17 Hours plus print time)

  • Print Needed Parts

  • Procure Other Parts

  • Build Frame [Both]

  • Build Housing [Both]

  • Attach and Wire Electronics * [Both]

  • Attach Motor * [Ben]

  • Attach InMoov Robot [Both]

• Code (Optional) (8 Hours)

  • Develop code for Robot to control frame [Ben]

• Testing (Optional) (2 Hours)

  • Test Frame Motion [Both]

 

1. Schedule

 

 

Figure 2. Schedule breakdown with date and duration estimates.

 

1. Background and Capabilities

 

Ben is in his final semester at SUU, and will pursue a master’s in robotics engineering after graduation. He has completed multiple projects at SUU, and is the project manager for the InMoov robot project.  He has experience with SolidWorks and circuit design, and has used Eagle to design a circuit board for another project. The design of the stand will help further Ben’s learning about robot design.

           

Dillon has two years left in SUU’s CAD/Cam engineering tech. After he gets his degree he is planning on working in industry and starting his own business. He is experienced with SolidWorks, Catia, Inventor, and currently working with NX. This design will help Dillon in furthering his skills in CAD/CAM engineering and the design process.

 

1. Objectives

 

• Stand built for display and storage of the InMoov robot

• Stand will maintain balance with full motion of the robot

• Design will allow for movement by robotic control

  • If funding is procured, motor and controls will be included in stand

• Design will be shared with the InMoov community

• Present at Festival of Excellence

 

1. Summary

 

The project will involve the design and construction of a wheeled stand for the InMoov robot.  Funding and resources will be sought to motorize the stand, and interface the stand controls with the InMoov robot control center.  The project will be used to learn more about the design process from idea to realization, incorporation with a larger project, funding and budgeting, model testing in SolidWorks, and the creation of printed circuit boards.  Overall the project will give the participants valuable experience, and provide the InMoov robot with locomotion.

 

1. References

[1]     Inmoov.fr