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Agile Robotics

Agile Robotics. Platform Integration. Mitch Leammukda, Troy Jones, Lenny Paritsky, Rob Truax, Mofe Uku, Paul Pepin, Steve Proulx, Mike Kerekes. Forklift Platform. Toyota 8FGU15 3k lbs. capacity Liquid propane gas fuel Electrically-actuated mast hydraulics CANbus network Pneumatic tires

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Agile Robotics

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  1. Agile Robotics Platform Integration Mitch Leammukda, Troy Jones, Lenny Paritsky, Rob Truax, Mofe Uku, Paul Pepin, Steve Proulx, Mike Kerekes

  2. Forklift Platform • Toyota 8FGU15 • 3k lbs. capacity • Liquid propane gas fuel • Electrically-actuated mast hydraulics • CANbus network • Pneumatic tires • Internal sensors and safety override system

  3. Toyota 8-Series Features • System of Active Stability (SAS) • Internal sensors detect instability and forklift’s controllers activate appropriate functions • Active Control Rear Stabilizer System • Speed sensor • Yaw rate sensor • Swing Lock Cylinder • Active Mast Function Controller System • Pressure sensor • Height (stage) sensor • Tilt angle sensor

  4. Forklift Pics

  5. Modifications • Several components on forklift need to be modified to be a computer-controlled drive-by-wire system • Mechanical/Hydraulic (major mods) • Steering • Hydraulic brake • Parking brake – engagement & release • Electrical (minor mods) • Mast degrees of freedom (DOFs) • Accelerator • Transmission • Lights, alarms, etc.

  6. Steering shaft Steering • Hydrostatic steering pump transfers hydraulic fluid to move steer wheels • Implement gearbox, pulley, motor/clutch driven by Copley Accelnet motor controller Hydrostatic pump

  7. Hydraulic Brake Master Cylinder • Pedal physically pushes down on master cylinder • Implement motor and cable system driven by Copley Accelnet motor controller Brake Pedal

  8. Hydraulic Brake (cont.)

  9. Parking Brake • Pedal physically pulls on cable to engage parking brake • Hand lever releases brake • Implement motor, clutch, and cable system to engage • Implement solenoid and cable to disengage

  10. Parking Brake (cont.)

  11. Mast Actuation • Mini-Levers system • Potentiometers control DOFs • Lift • Tilt • Sideshifting • Fork positioning • Forklift’s electronic control unit (ECU) reads voltages across the potentiometers and then controls the mast

  12. Mast Actuation (cont.) • Microcontroller (uC) in between Mini-Levers and ECU • uC controlled by CPU and then output voltages to control mast • uC can accept output from Mini-Levers and then “relay” voltages to ECU

  13. System Integration – Next Steps • Controls Interface Modifications • Design computer control capability of accelerator, transmission, emergency stop, on-board electronics, etc. • Power Inverters • Provide sufficient power to CPU, sensors, add’l motors, safety indicators, networking components • Computers • Process sensor data, perform planning and execution of maneuvers • Shock-mounted to handle dynamic movement, bumps • Sensor Mounting • Allow for proper data collection of variety of sensors, pointing in different directions

  14. apr 08 aug 08 sep 08 mar 09 nov 08 Timeline jan 09 • Concepts of mechanical & electrical modifications • All DBW elements transferred to full-size prototype ready for software testing and data collection • Additions & modifications for self-contained autonomous platform • Complete all modifications for autonomous capability • End-to-end capability demonstrated

  15. Schedule/Milestones • Sept. 30, 2008 • All DBW elements transferred to full-sized prototype ready for software testing and data collection • Steering, hydraulic brake, and parking brake actuation • Mast, accelerator, transmission actuation • Baseline set of sensors mounted and wired • CANBus interface software reading vehicle data/states • Nov. 30, 2008 • Additions/modifications for self-contained autonomous platform • Power inversion additions and wiring • Controls CPU system mounted with network connections • Preliminary human/autonomous handoff system • Jan. 31, 2009 • Complete all modifications for autonomous capability • Robust safety/handoff system implemented • Visible & audible annunciators functional • March 31, 2009 – end of Year 1 • End-to-end capability demonstrated

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