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The Go-Go Gantry

The Go-Go Gantry. Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee. Problem Statement:. To engineer an automated system that plots text on various sizes of poster board Input is ASCII file (.txt) 100 bytes max Must complete in 8 weeks. Solution:.

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The Go-Go Gantry

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  1. The Go-Go Gantry Jeff Wilson Lee Strobridge Allison Bodis David Carlson Mark Jarrett Jeremy Paradee Jeff Wilson

  2. Problem Statement: • To engineer an automated system that plots text on various sizes of poster board • Input is ASCII file (.txt) 100 bytes max • Must complete in 8 weeks Mark Jarrett, Jeremy Paradee, and Jeff Wilson

  3. Solution: • Movable Vehicle • Computer sends signal to Go-Go Gantry • Go-Go Gantry drives in X direction • Gantry with pen moves in Y direction • Combination of X-Y motion plots text • Vehicle plots text Mark Jarrett, Jeremy Paradee, and Jeff Wilson

  4. System Overview: Motor Marker Controller Solenoid 12V Motor Motor Lee Strobridge, Jeremy Paradee, Mark Jarrett, and Jeff Wilson

  5. Mechanical Overview: Gantry Stepper Motor Marker Solenoid Stepper Motor Stepper Motor Strobridge, Bodis, Jarrett, Wilson

  6. 3-D Model: Lee Strobridge

  7. Mechanical Detail:Gantry Dave Carlson

  8. Mechanical Detail:Marker Fixture Dave Carlson, Allison Bodis, Mark Jarrett

  9. Solenoid: Test 12 V Solenoid: F = 19 Newtons Mark Jarrett and Jeff Wilson

  10. Casters: Design Decision Wilson, Bodis, Strobridge, Paradee, Jarrett, Carlson

  11. Ball Vs. Wheel Casters: Test Mark Jarrett and Jeff Wilson

  12. Cup n’ Ball Casters: Test Strobridge, Wilson, Jarrett, Bodis

  13. Friction: Test (uF) = u (Fn) u = .0376 * All measurements made in Newtons Allison Bodis

  14. Electrical Overview: 120V AC Motor Controller Computer HC11 12VDC Solenoid Power Stepper Motors Signal Mark Jarrett, Jeff Wilson, and Jeremy Paradee

  15. 68HC11 Microcontroller: Dave Carlson, Jeff Wilson

  16. Computer System Overview: Computer: Go Go Gantry: ASCII File In PC: Micro-Controller HC-11 “Yard Sale” Serial Cable Memory C Code yardsale Letters Printing Assembly Code Paradee, Strobridge, Carlson, Jarrett, Wilson, Bodis

  17. Layer Diagram: Data Entry Download Letter Decision Motor 1 Motor 2 Motor 3 Solenoid Jeff Wilson

  18. Program Flow Chart: Start Home Letter Subroutine Yes Letter? No End Jeff Wilson and Mark Jarrett

  19. Solenoid #1 Set = Down     Motor #2 Set = Forward         Time Delay     Motor #2 Set = Stop     Motor #1 Set = Forward         Time Delay     Motor #1 Set = Stop     Motor #2 Set = Reverse         Time Delay     Motor #2 Set = Stop     Motor #2 Set = Forward         Time Delay         Time Delay     Motor #2 Set = Stop     Motor #1 Set = Reverse         Time Delay     Motor #1 Set = Stop     Solenoid #1 Set = Up     -Home Pen Subroutine-     -Test for more letters to print-     -Move to next letter location if needed- Pseudo Code ‘Y’: Jeff Wilson

  20. User Interface Code: // // entertext.c - a terminal program to enter text and send it to the // Go Go Gantry. A list of options is given to the user, who can enter // text of up to 100 standard ascii letters. #include <stdio.h> int main( void ) { char text[100], choice = 'a'; int numberOfChars = 0, i = 0; // Title screen and prompt for letters printf("****************************************************************\n"); printf("* *\n"); printf("* --- Go Go Gantry: Text Terminal --- *\n"); printf("* *\n"); printf("* Enter up to 100 letters to be printed by the Go Go Gantry *\n"); printf("* Press RETURN to continue *\n"); …….. Dave Carlson

  21. User Interface: Dave Carlson

  22. Design Vs. Prototype: Lee Strobridge

  23. Rover II Platform: Prototype • Pre-Assembled, available • Large front prototyping area • HC 11, Stepper motors, wheels, controllers, serial communication and interrupt drivers • More pins give options for sensors Carlson, Jarrett, Wilson, Bodis, Strobrige, Paradee

  24. Schedule: Mark Jarrett

  25. Thank You, Any Questions? Go-Go Gantry Webpage: I:\WEB\DOCS\ELM\Projects\2003-2004\MiniProject\GoGoGantry\index.html

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