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1 CURRICULUM SAMPLE 1

2 HOW IT WORKS CURRICULUM OVERVIEW ONLINE OVERVIEW Quarterly Challenges are posted online. Travel is not required; teams åparticipate from their classroom and submit data via the Internet. Introductory Curriculum Sample Challenges The two Challenge Curriculum books are a guide to using the online competitions. They teach basic robotic building skills and provide practice challenges that can be conducted at any time during the year. Designed to stand alone or complement and enhance other academic challenges and competitions, this program can be used at any time throughout the year to generate enthusiasm, prepare students for problem solving challenges, and create a real-world teamwork scenario for students to experience. The AORC is a challenge program designed to be approachable for ALL educators! Ways to Integrate The Challenge Into the Classroom Host a school-wide or district-wide robotics challenge. Host a Mentoring Challenge by inviting High-school students to team up with students in Middle or Elementary school to compete. Use the mini challenges as a fun creative project during your regular school day. Students who finish work early can use the mini challenges as an educational challenge. Mini challenges are suited for open-ended solutions. Gifted and Talented students excel with this type of activity. Materials are not limited to any specific manipulative or system and teams can utilize everything from K'NEXTM or ErectorTM sets to items found in the garage. This allows far more flexibility for teams to participate and encourages creativity in materials. Different categories of prizes are awarded. "Mini-Challenges" are posted at the beginning of each quarter to facilitate practice year round. These are a great way for a team to practice and share ideas with other teams. Each challenge is available for a 10-day timeframe. Team select a day within this timeframe to compete. On the selected day, the team facilitator logs in, opens the challenge, and their 6-hour timer begins. The team has up to 6 hours to complete the challenge and upload their solution. 3 separate uploads are required to document the beginning, mid-point, and resolution of their attempt. All team entries are available for review upon the completion of the challenge timeframe. 2

3 TABLE OF CONTENTS #1 International Space Station Working Envelope Robot Armed and Ready Effective Ends More End Effectors Control #2 Bulk Materials Gear Trains Conveyor Belt Funnels and Chutes Lifts Control #3 Houdini Robotic Device Strength and Robot Frames Levers and Scissor Lifts Locomotion Robot Arm Fun! End Effector Tools #4 Planetary Probe Robot Gear Trains Robot Linkages Robot Design Robot Walker Robot Feet #5 Model Your Robot Robot Form Gear Trains Control Conversion of Motion Modeling #6 Robot Digger Creative Robot Designs Robot Mission Goals Robotic Arms! Robot Gears Robot Tools #7 Line Bot Robot Gear Trains Methods of Robot Locomotion Robotic Sensors Light Sensor Control #8 Climber Bot Robot Gear Trains Robot Locomotion Robot Wheels Traction Center of Gravity #9 Launcher Bot Creative Robotic Designs Gear Trains End Effector Tools Critical Load Projectiles #10 Drop Bot Robot Gear Trains Robotic Control Structural Integrity Claw End Effector Collision Dampening

4 WORKING ENVELOPE #1 Vocabulary: Cartesian Robot Arm Construction Conveyor Belt Cylindrical Robot Arm Footprint READ THIS! Jointed Robot Arm Malfunction Polar Robot Arm Stability Working Envelope One important consideration for robot design is its working envelope. A working envelope is the area a robot arm can reach! When designing a robot arm, it is important to have an idea of the working envelope! How far does this arm need to reach? Does it need to have the ability to reach up and down? Industrial robot arms generally operate within one of several identified working envelopes. For example, some of these envelopes can be described as a cube or a sphere. Robot arms will be designed for a working envelope depending on the particular job. For example, a robot arm that has to push cans off a conveyor belt (such as a Cartesian Robot Arm) will have a different working envelope than a robot arm that catches satellites (such as a Jointed Robot Arm). Investigate the robot arm constructions listed below, and reflect on their working envelopes. Consider what sorts of tasks each type of robot arm could perform. Cartesian Robot Arm Cylindrical Robot Arm Jointed Robot Arm Polar Robot Arm Another important consideration of robotic design is size! For example, a robot's footprint is how much floor space a robot takes up. A footprint that is too big will not let the robot fit into a certain space. If a robot probe is too big for a rocket capsule, it cannot be used! Another consideration is stability. If the base of a robot is not stable, it may topple over or malfunction. Your official mini challenge is to create a stable and motorized robot arm base or turntable that will be able to orient a robot arm to any point for a working envelope of 360 degrees. The base can have a footprint that is no larger than 12 cm 2. 4

5 ROBOT ARMED & READY #2 Read This! An important consideration in robotic arm design is structural integrity. This means that a design should have a structure that can remain in an unimpaired condition, especially while being used. For example, a robot arm must be strong enough to support itself and the object it is designed to carry. If the load is too heavy for a robot arm, the arm will bend or break! Two important elements of any robot arm design are stiffness and strength. Stiffness describes how much a robot arm is deflected when it is carrying a load. The less it shows deflection, the stiffer it is. This can be important for controlling the arm. For example, if a robot arm is easily deflected, it will be hard to pick up specific items. Strength describes how much a robot arm can carry! You would not want a surgical robotic device to flop around or break during an operation! The qualities of stiffness and strength play a significant role in the extension or the range over which a robot arm can reach, and the working envelope in which a robot arm operates. One method used in robotic design integrates triangles and trusses in the robot arm construction. Triangles are a strong structural element. For example, when one side of a triangle has pressure on it, it cannot collapse without causing the other two sides to also fail. There are many other design shapes and methods that can create a robust and strong robot arm structure. It is useful to explore different building techniques in order to discover what will best work for your robot arm. Your official mini challenge mission is to design and build a robot arm that has an extension of 15 cm and can support the weight of a typical adult shoe. HINTS: Use string to tie the shoe to the arm design. The arm will be longer than 15 cm to provide a handhold for testing purposes. Integrate triangles for strength. Use a lightweight shoe! 5

6 EFFECTIVE ENDS #3 Vocabulary: Chopsticks Device Effort End Effector First Class Lever Read This! One of the most important parts of a robot arm is its end effector. The end effector is the device found at the end of a robot arm, and is the hand of the robot. Form Follows Function Fulcrum Second Class Lever Third Class Lever Tongs End effectors are usually designed for a specific job or task, and can be found in a wide variety of shapes and sizes. Because these devices are created for a particular function, their design is an example of "form follows function"! One type of end effector, usually called a two fingered pincher, utilizes levers. For example, a First Class Lever locates a fulcrum (the pivot point) between a load (the object being grasped) and an effort (the motor). Consider ice tongs: they are a First Class Lever. Imagine if they were motorized and attached to the end of a robot arm! A Second Class Lever locates the fulcrum on one end of a lever, and places the load between the fulcrum and the effort, which is located at the other end. Consider a nutcracker: It is a Second Class Lever! Imagine a nut cracker motorized and attached to the end of a robot arm! A Third Class Lever locates the effort between the load and the fulcrum. Consider chopsticks: They are a form of Third Class Lever! Imagine a chopstick motorized and attached to the end of a robot arm! There are several ways to motorize a two fingered pincher end effector using levers! End effectors that integrate levers can be used to grasp a variety of objects! Build a motorized two fingered pincher end effector that is able to grasp or clutch a ball of yarn. The end effector should be able to hold the yarn for 30 seconds without dropping it. HINTS: Use levers in your design. Attach the end effector to a simple arm structure to provide a handhold for testing purposes. Use a ball of string or similar easily grasped object, if yarn is not available. 6

7 MORE END EFFECTORS #4 Vocabulary: Accuracy Feedback Gripper Hook Precision Read This! Pressure Proximity Scoop Sensor End effectors, referred to as the hands of a robot, are often created for a specific job or task. Their design is often the result of "form follows function", and the type and shape of the end effector will be determined by its use. For example, some industrial robots use a two fingered pincher to grasp objects. There are a many different end effector designs. One type of end effector is a scoop. A scooping tool is used for moving substances that are powdery, in small pieces, have an unusual shape, or that occur in many different sizes. Several scientific probes sent to Mars have utilized scoops for taking soil samples. The Mars Polar Lander was designed with a scoop end effector to study the Martian soil. Another useful end effector design is a hook. Hooks are used to suspend, hold, or pull something. Hooks are useful for lifting items, but they can be unstable and are not generally used for moving very dangerous materials. Some robot arms are designed to have interchangeable and removable end effectors. Designs have included magnetic plates, rings, suction, and a variety of tools such as arc welders or paint sprayers! Engineers have to study how an end effector interacts with an item. For example, if you have a strong gripper, you would need to be careful picking up an egg so as not to crush it. Useful end effectors must be precise and accurate. Precision and accuracy can be created by using sensors and feedback. There are different kinds of feedback including visual, pressure, and proximity. Feedback can be a human assessing the contact of an end effector to an object, or electronic sensors can send the feedback to the controller. Design and build a motorized two fingered pincher end effector that is able to grasp or clutch and hold a "C" type battery. The end effector should be able to hold the battery for 30 seconds without dropping it. HINTS: Try several designs. Be creative! Use a similar cylindrical object, if a battery is not available. 7

8 Vocabulary: Assembly Line Computer Control Linkage Machine Read This! Mechanical Program Software Soil-sample INTERNATIONAL SPACE STATION CONTROL #5 Sometimes linkages are controlled by hydraulics, pneumatics, wire, or even string! A combination of linkages and levers can provide mechanical control of a robot! Robot arms and end effectors can accomplish a wide range of tasks, from putting together automobiles on an assembly line to taking soil-samples on distant planets. However, robot arms and end effectors are machines, and need to be controlled or programmed. Control is an important aspect of robotics! How does a robot arm know what to do? Many robot arms are connected to a computer that governs their actions. Programmers and software engineers instruct or teach a robot arm its tasks. Some simple robot arms utilize a teach pendent to record the motions that it must repeat on an assembly line. Some robotic devices use a system of control through mechanical linkages. A linkage is often a series of connecting rods that transmit motion or power. Mechanical linkages can often be described as a series of levers. Design and build a robot arm that has an extension of 15 cm with a mechanically controlled end effector, that can pick up a fork and hold it for 30 seconds. HINTS: The fork may be metal or plastic. The fork may be oriented in any position. Integrate levers into your robot arm design. Try several designs to discover which works the best. Be creative! Use items such as string or tape for mechanical control. 8

9 ERC CHALLENGE! The International Space Station needs your help! The ISS needs a new robot arm that can deliver pop and chips from a supply capsule to the station's astronauts! Students are challenged to build a robot arm with an end effector that is able to pick up an unopened can of pop (355 ml) and an unopened bag of chips (weighing approximately 30 grams) one at a time out of a target zone and place it into a target zone. The can and the chips are located in a marked 15 cm area square on the surface of the table. The target zone is a 15 cm area square that is 10 cm above the surface of the table. The can and bag may be arranged or oriented in any way inside of the 15 cm square. They may be placed in any way or in any order in the target zone. The collection process needs to start again if either the can or bag touch the table surface outside of the pickup or target zones. The can and bag should remain unaltered. They may not have wires, tape, or string pre-attached. They may not have holes predrilled. The robot arm may have any number of joints and motorized elements. The base of the arm must fit into a 15 cm zone between the pickup zone and the target zone. The robot arm base zone should be 15 cm apart from from the pick up and the target zones. The arm may not be supported outside of the base, pickup or target zones, and must begin entirely within the base zone. The use of common classroom or household items such as paper clips, string, and rubber bands is encouraged. Wires, strings or other control devices may be connected to the robot arm. If pop and chips are unavailable, similar items may be used in their place. 9

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