{"id":226,"date":"2015-11-23T19:20:35","date_gmt":"2015-11-24T00:20:35","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/?page_id=226"},"modified":"2016-04-01T23:15:26","modified_gmt":"2016-04-02T03:15:26","slug":"mechanical-design-and-development","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/system-information\/mechanical-design-and-development\/","title":{"rendered":"Mechanical Design and Development"},"content":{"rendered":"<p><span style=\"color: #000000\">One of the system requirements was to construct a pan-tilt unit for the camera which would be mounted on the turtle bot. This unit would enable the system to track and follow the head pose of the human resulting in a better photograph and also giving the system 2 additional DOFs.<\/span><\/p>\n<p><span style=\"color: #000000\">Following requirements were listed out for the pan tilt camera unit design:<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 Universal camera mount (for limited number of camera types)<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 No zooming axis<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 2 axis rotations: ( 1 Pan axis, 1 Tilt axis)<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 Manual elevation.<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 Low self-weight<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 Sustainable to 500gm camera weight (with 1.3 FOS)*<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 Height from surface 4.5 Ft.<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u2022 Able to recognize face of person 5 Ft. to 6.5 Ft. height \u2022 Range of operation: -90 to +90 deg [Pan motion] -tan-1 (1\/ (2R)) to tan-1 (1\/R) Tilt motion, in deg]<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">where \u2018R\u2019 \u2013 Distance between the pan tilt camera and the human face.<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">We upgraded our pan tilt unit with a new design. Shown below is the Rev2 of the design.<\/span><\/p>\n<p style=\"text-align: left\"><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/image.png\" rel=\"attachment wp-att-458\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-458\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/image.png\" alt=\"image\" width=\"713\" height=\"296\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/image.png 713w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/image-300x125.png 300w\" sizes=\"auto, (max-width: 713px) 100vw, 713px\" \/><\/a><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">The complete CAD model consisting of the Turtle-bot, pan til camera unit along with elevation axis has also been designed.<\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0<a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Complete-Assembly.jpg\" rel=\"attachment wp-att-455\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-455\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Complete-Assembly.jpg\" alt=\"Complete Assembly\" width=\"1132\" height=\"591\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Complete-Assembly.jpg 1132w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Complete-Assembly-300x157.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Complete-Assembly-768x401.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Complete-Assembly-1024x535.jpg 1024w\" sizes=\"auto, (max-width: 1132px) 100vw, 1132px\" \/><\/a><\/span><\/p>\n<p style=\"text-align: left\"><span style=\"color: #000000\">To test the design stability, we planned to 3D print one pan tilt unit before machining them.<\/span><\/p>\n<p style=\"text-align: left\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0<a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/cad1.png\" rel=\"attachment wp-att-456\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-456\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/cad1.png\" alt=\"cad1\" width=\"982\" height=\"628\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/cad1.png 982w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/cad1-300x192.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/cad1-768x491.png 768w\" sizes=\"auto, (max-width: 982px) 100vw, 982px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>One of the system requirements was to construct a pan-tilt unit for the camera which would be mounted on the turtle bot. This unit would enable the system to track and follow the head pose of the human resulting in a better photograph and also giving the system 2 additional DOFs. Following requirements were listed<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/system-information\/mechanical-design-and-development\/\">+ Read More<\/a><\/p>\n","protected":false},"author":38,"featured_media":0,"parent":29,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-226","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/226","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/users\/38"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/comments?post=226"}],"version-history":[{"count":16,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/226\/revisions"}],"predecessor-version":[{"id":459,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/226\/revisions\/459"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/29"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/media?parent=226"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}