TECHNICAL DESCRIPTION:

 

I.          Prototype Drawing and Images

 

 

Fig. 1 Preliminary Sketch of RPTC

 

                The Robotic Plot Table Camera (RPTC) consists of a 2 axis linear motion system and sensor carriage.  The system is propelled by 2 stepper motors.  The carriage supports the digital camera and y-axis drive motor.  At BTCO, the calibrated plot QA surfaces are supported by standard formica topped tables that are of the same dimensions.  The outer frame of the gantry would be clamped to this table by some bracket as yet designed.

                The motors each drive a spindle that winds and unwinds steel cable that (through pulleys) is attached to the opposite side of the axis from the motor.  This system insures an even amount of cable is taken in or paid out on each side of the moving surface thus reducing any torque induced from a single side / single direction force.

 

 

Fig. 2 RPTC Gantry and Carriage Assembly

 

 

Fig. 3 x-axis Linear Bearing and Motor Assembly

 

 

Fig. 4 Carriage Detail ( y-axis motor and digital camera)

 

 

II.        Bill Of Materials

 

Note:    The following Bill of Materials is for the recommended / deliverable device that would be setup at BTCO.  All items listed are only for the purpose of estimation.  Alternatives are available.

 

Part Number

Description

Supplier

Qty

Unit Price

Total Price

y-axis System Materials

ZLW-0630-B-R-1220

y-axis Linear Motion System 1220 mm stroke

IGUS

1

509.80

509.80

IK-0001

Normally Closed Limit Kit

IGUS

2

106.68

213.36

IK-0002

Normally-Open Limit Kit (Alternative)

IGUS

2

106.68

(213.36)

MAT9043716-D

3m Sensor Cable

IGUS

2

20.84

41.68

NEMA230630

Motor Flange

IGUS

1

100.00

100.00

 

 

 

 

 

 

x-axis System Materials

WS-10

x-axis Linear Motion Rail

IGUS

2

164.74

329.47

WJRM-02-10

90 Deg Hybrid Linear Bearing

IGUS

4

15.56

62.24

 

 

 

 

 

 

x-axis System Materials (Alternative)

WS-10

x-axis Linear Motion Rail (non-powered side)

IGUS

1

164.74

164.74

WJRM-02-10

90 Deg Hybrid Linear Bearing

IGUS

2

15.56

31.12

ZLW-0630-B-R-2440

y-axis Linear Motion System 2440 mm stroke

IGUS

1

~1000.00

~1000.00

IK-0001

Normally Closed Limit Kit

IGUS

2

106.68

213.36

IK-0002

Normally-Open Limit Kit (Alternative)

IGUS

2

106.68

(213.36)

MAT9043716-D

3m Sensor Cable

IGUS

2

20.84

41.68

NEMA230630

Motor Flange

IGUS

1

100.00

100.00

 

 

 

 

 

 

Stepper Motor Systems

STP-MTRH-23079

289 oz-in Bipolar Stepper Motor

Automation Direct

2

51.50

103.00

STP-DRV-80100

Stepper Motor Driver

Automation Direct

2

265.00

530.00

STP-PWR-7005

Stepper Motor Power Supply

Automation Direct

2

178.00

356.00

STP-EXT-020

STP-MTRH Stepper Motor Ext. Cable 20ft

Automation Direct

2

15.00

30.00

 

 

 

 

 

 

Microcontroller

 

Needs Extensive Research

 

 

 

 

 

 

 

 

 

 

Workstation

PC / Laptop

Windows 7 64 bit OS Workstation

ANY

 

 

 

 

8 Gb RAM (Video Processing)

 

 

 

 

 

128 Gb Solid State Drive (for OS)

 

 

 

 

 

500 Gb Hard Drive (file storage)

 

 

 

 

 

USB 2.0 / 3.0

 

1

~500.00

~500.00

Monitor

21in 16×9 ratio

 

2

~250.00

~250.00

Trackball

In place of a standard mouse

Logitech

1

~60.00

~60.00

 

 

 

 

 

 

Matlab

Matlab r2013b

IDE for measuring algorithm and GUI

Mathworks

1

~500.00

~500.00

Toolbox

Image Acquisition Toolbox

Mathworks

1

~200.00

~200.00

 

 

 

 

 

 

Digital Camera

 

8 Mega Pixel Minimum

ANY

1

~2000.00

~2000.00

 

Parallax Correction Macro Lens

ANY

1

~600.00

~600.00

 

 

 

 

 

 

Misc. (Cabling, Fasteners, Brackets, etc.)

 

Misc. hardware

ANY

?

~250.00

250.00

 

 

 

 

 

 

Estimated Total (Without alternates) per unit

 

 

 

 

 

6635.55