Yujie Huang
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Arcade Robot Game
Start from the very beginning, our team want to design a arcade game that will fully integrat robot arm and our unique engineering skills into fun and robot-human interaction practice. Therefore comes the design of our arcade robot design. This is a fully automated arcade game system that invloves a UR5e Robot arm and a rim part mounted on the end effector, which includes a LCD screen to show the scorre and time count down.
Meet the Team.
We are team 9 from ME555 - Intro to Robotics
Team Member:
Boyu Cao
Ziyao Yin
Athre Hollacal
Yujie Huang
Rory Pfister
THROW, SCORE, TRY AGAIN
Please check the test and result videos to get a better understanding of the system we built.
CAD Design
As the mechanical Engnieer in our group, my primary role is to design the Rim strcture that could be properly mounted on the End Effector of the Universal UR5e Robot Arm. There are severl sctions that the rim CAD design should cover: Mounting Mechanism, Rim, Arduino Board Housing with openings for wires, and Ultra-red Sensor housing.
Starting from the Rim Design. In order to have the Robot arm run smoothly and the ball being thrown not to hurt the robot arm, we chose ping-pang balls. Thus we designed our rim to around 2.5 the diameter of a ping-pang ball, making the rim size proper without interfering the robot arm motion while keeping the game challenging. From below you can see the version 1 of our rim design and how it looks like after FDM 3D printed.
After version 2, the design is in good shape but I have to do several improvements on the detail. One of which is that in order to adjust the power connector and cable connector on arduino board, the opening of the housing should be on the left hand side instead of the right. The second imporvement is that the front wall is still smll for our bread board and LCD, so I have to enlarge the front wall for more stable sticking. After that, one of the design challenges that I faced during this project is that the support of 3D prints are too strong and super tough to get rid of. Therefore, after some testings I adjusted the 3D printing infill rate along with the layer thickness, and I changed the printing orientation. Below is the picture showing the problem:
For the Mounting Mechanism Deisgn, I decieded to use a clamp-like shape to insert on the gap of the gripper to hold the rim. The clamp has to be long enoug, and at the end it is drilled so that we can use screw to fastern. What's more, CAD design version 1 also includes the ultra-red sensor housing at the bottom of the rim. This design enables the function of score-counting using our sensor while keeps the sensor securely placed. The CAD design mentioned is shown below on the left.
As for the Arduino Housing, The original idea is to have a box mounted on top of the rim with wire openings and side openings for battery to be mounted quickly and easily. Also, the front surface has to be solid and large enough since the LCD screen is planned to be stick onto it. Below is graph showing the CAD design version 2 and the product being 3D printed.
The final 3D print and the product that we came up with.
Electrical Design
Our electrical design mainly involves programming of Ardunino board with the integration of ultra-red sensor and an LCD screen to implement goal-sensing and score display.
The very first electronic component that we implement is the ELEGOO Arduino UNO R3 Board ATmega328P. As the main controller to drive other electronics, the logic was writeen bin Arudino C++. Sample code can be found below on the left, and on the write is the combination of our electronic components that is fully functional.
Hardware System Development with TinkerCAD
Other component includes:
1602 Serial LCD Module: Responsible to show the score and time countdown when game started.
HC-SR501 PIR Human Body Motion Sensor: Detects and send signal to the controller once scored.
SG90 9g Micro Servo Motor: This is an add-on option that controls the lid of the rim. In order to change difficulty levels of the game, a lid that constantly open and close would be fun and challenging to be implemented to the whole arcade system.
Arduino Flow Chart
UR5e Robot Arm
Motion Planning + Testing
Thanks to the Duke MEMS Robotics Department, we have a fantastic big toy to play with. The robot arm is Universal UR5e and the gripper/end effector is the Robotiq 2F-140.
Motion Planning is completely realized using ROS 1 (Robot Operating System) for communication through subscriber and publisher nodes. Python script was written to plan the path of the robot arm, and the fully planned motion was tested in Gazebo simulation before we did test runs on the robot arm in our lab. Please check the videos of the Gazebo simulation and actual testing.
Simulation Video
