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RoboCup Robot Redesign and Optimization

The document outlines a project focused on the redesign and optimization of robots for the RoboCup Middle Size League, emphasizing key areas such as mechanical, electrical, and software improvements. It details the development process, including component testing, design changes, and future enhancements like improved ball detection and reaction speed. The presentation concludes with a Q&A session and expresses gratitude from the presenter, Hamid M., a Mechatronics Engineering professional.

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Hamid
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50 views17 pages

RoboCup Robot Redesign and Optimization

The document outlines a project focused on the redesign and optimization of robots for the RoboCup Middle Size League, emphasizing key areas such as mechanical, electrical, and software improvements. It details the development process, including component testing, design changes, and future enhancements like improved ball detection and reaction speed. The presentation concludes with a Q&A session and expresses gratitude from the presenter, Hamid M., a Mechatronics Engineering professional.

Uploaded by

Hamid
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd

ROBOCUP ROBOT

OPTIMIZATION
AND REDESIGN
AGENDA

•Introduction to MSL Robocup


•Project topic
•Design

•Implementation

•Future developments
•Q&A

2
MIDDLE SIZE LEAGUE
ROBOCOP

FONTYS AND VDL ETG


INTRODUCTION TO ROBOCUP
• 2050: robot players capable of
defeating a human team
• Key development areas:
• Vision
• A.I.
• Real-time decision making
• Mechatronics design

VDL Team Robots

4
PROJECT
DEFINITION

REDESIGN AND
O P T I M I Z AT I O N
- F I N D W E A K N E SS E S
- C R E AT E A P L A N
- SP L IT WO R KLOA D
- I M P L E M E N TAT I O N
- TESTING

5
DESIGN TIME !! ;)

6
MECHANICAL
1. Switched from one-piece to three-part modular
metal arm for strength and cost-efficiency.

2. Used 1.5mm aluminum-magnesium alloy for


Stress test of side optimal strength-to-weight ratio.
panel
3. Designed adjustable L-brackets for angle and
lateral flexibility.

New arm design 4. Introduced cambered wheel profile for better ball
in CAD grip and gearbox clearance.

5. Added sacrificial panels to protect sensitive


components from impact.

7
Simple electrical
diagram

Assembled arm w/o electronics 8


Simple electrical
diagram

9
ELECTRICAL
1. Replaced old motor driver with DFR0601 (12A)
for better thermal and current performance.

2. Used ACS712 current sensors on breakout


boards to reduce EMI and improve accuracy.

3. Integrated rotary potentiometers for precise arm


angle detection.

4. Built a custom development board to test all


components before final PCB design.

5. Maintained analog signal architecture for high-


frequency control and PID compatibility. Development
board

ACS712
Current
sensor 10
Simple electrical
diagram

11
SOFTWARE
1. Software & Control

2. Developed torque-based PID control logic for


adaptive ball grip.

3. Verified PWM motor control and sensor feedback


using Teensy 4.0.

4. Implemented error detection and real-time


filtering for stable performance.
PID loop
5. Ensured modular code structure for easy
adaptations.

6. *Will require communication with robot


mainframe via Ethernet.

12
IMPLEMENTATION
1. Followed the V-model approach: verified each
component before full system integration.

2. Mechanical parts were laser-cut and assembled


using modular brackets and locking washers.

3. Electrical components were tested individually,


then integrated via a custom development board.

4. Software modules were validated in layers—


starting with PWM motor control, then sensor
feedback, and finally PID logic.

5. Field testing included impact simulations and


motion trials to verify durability and performance.

6. Ensured compliance with RoboCup MSL rules


throughout the integration process.
13
Assembled new model

14
FUTURE IDEAS

1. Improved Ball detection using Time of Flight


sensors

2. Optimizing reaction speed of PID

3. Synchronization protocol for motor – motor


driver – controller

4. Physical integration of gearbox inside the arm

15
Q&
A

16
THANK YOU
Hamid M.
Mechatronics Engineering

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