Development

Week 1-3 (9th May-29th May)

  • Ideation of the initial idea: FetchBot
  • After discussion with Dr Ho, due to the complexity of the project as well as similarity of the project to another group, we decided to change the project into a cleaning robot, hence the birth of CleanBot.

Week 4-5 (30th May- 12th June)

  • Continual Development of Idea of CleanBot.
  • Met with Dr Ho to discuss about the CleanBot idea.
  • Improved on our idea based on the feedback given by Dr Ho.

Week 6 (13th June- 19th June)

  • Dr Ho suggested that we work with Dr John Heng of MAE, who suggested that we should modify our project to one that picks up shuttlecocks and/or tennis balls, so that there will be greater commercial interest.
  • Had a meeting with Dr John Heng. We learnt that we would need to reevaluate our idea to something that values-add to the market, and something that would interest our target audience.
  • Had a meeting with Mr Tony, who urged us to focus on the cleaning process for our robot. He also suggested to create our robot in a modular basis.
  • Redeveloped our idea based on all the advice provided for us, which resulted in the final idea of making a swappable cleaning robot.
  • First round of purchase of items.

Week 7 (20th June- 26th June)

  • We were linked up with industry partner, Lionsbot and had a meeting with their CEO about our project. He provided us with invaluable experience in the development of a robot in the industry, as well as some tips for our project.

Week 8 (27th June- 3rd July)

  • Coding for motion of motors and sensors
  • Finalization of dimensions of robot based on various constraints and design outcomes
  • Design and 3D print coupling for the wheel and the motor shaft
  • Second round of purchases

Week 9 (4th July- 10th July)

  • Cutting of Aluminium profile + assembling the main and cleaning frame
  • Coding for motion of motor and sensors

Week 10 (11th July- 17th July)

  • Purchases arrived.
  • Design and 3D printed gear system for the cloth rollers.
  • Attempted to mount the motors and the wheels but the 3D printed coupling keeps breaking.

Figure: 3D Coupling mechanism for the wheels and the motor is unable to withstand the load stress and rotational stress, causing continual breakage. With the help of Mr Tony, we realised that despite following the design of the original couple, due to the 3D printing material, it would be difficult to obtain a rigid product (even with greater infill tested)

Week 11-13 (18th July- 7th Aug)

  • Development of Cleaning and Motion Algorithm
  • With the assistance of Mr Tony, we relooked at 3D printing of the coupling mechanism for the motors and wheels. Changed to using the provided coupling from the company, with various modifications through drilling.
  • Continual 3D printing and testing of various components and its effectiveness

 

Figure: Preliminary Construction of the Product with the cleaning frame, moving frame as well as the cleaning rollers

 

Video: Preliminary motion testing. Realised various problems with construction such as the severe shaking of the top of the robot. 

SCHOOL STARTED (WOO! Unofficial 26 AUs semesters! Yay!)

Due to the heavy workload of all members as well as the scheduling of lab opening hours and our own timetables, we could only work on the project at most one/two days a week.

  • Added a primitive bumper system to protect the wheels and motors
  • Implementation of Cleaning and Motion Algorithm
  • Circuitry and Connections are implemented. 
  • Robot dimensions are reduced to further reduce the space taken up by the moving frame. 
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