Tribble (21) ECE342-W21

Project Management
Arduino
Robotics
Matlab
Communication
Hardware
Junior Design

The Tribble is a custom designed device that allows users to draw a set of shapes at various sizes, as well as straight lines determined by input coordinates. The Tribble is contained within a triangular structure that has been manufactured out of wood. On each edge of the triangular base there is a motor that rotates at an independent speed and direction to wind or dispense wires with its attached pulley. These three wires from these motors attach to each point of the central, triangular payload which holds the drawing utensil. There is also a depth sensor on the payload which measures the distance that the payload is away from the paper. Through controlling the three motors, the payload has accurate triple-axis movement. The user can input commands into a MATLAB interface to select the various shapes, which become displayed on a paper in the interface before they are drawn on the physical paper. The GUI communicates with a custom PCB which houses an Arduino Nano. The Arduino sends signals to three motors drivers to control them according to the user input. Ultimately, our team was very proud of our results in getting the payload to move effectively to draw different shapes and we feel that the user interface is the biggest strength of our project. In the future we would revise our PCB design and continue fine-tuning the programming of the motors to increase the accuracy of the drawn shapes.

0 Lifts 

Artifacts

Name Description
Tribble Enclosure Drawings These drawings contain information about the main Tribble enclosure. The main enclosure consists of a base platform, a platform with paper cutout, and three pillars. The two platforms are constructed of 1/2-inch particle board and the pillars are 2-inch by 2-inch boards. The enclosure is an equilateral triangle with provisions for standard paper retention, motor placement, and line elevation. The motor control PCB is attached above the paper cutout when viewed from the top.   Download
Tribble Payload Drawings The payload consists of two layers and an ultrasonic distance sensor. Both layers are constructed from 1/2-inch particle board. Holes are drilled at each corner of the triangle to allow the fishing line to attach to the payload. The center hole is for the writing implement that is then retained with a horizontal set screw. The small cutout in the front of the payload is extra space for the pins of the ultrasonic distance sensor.   Download
Ultrasonic Distance Sensor HC-SR04 Manufacturer Datasheet This is the datasheet provided by the manufacturer. The module contains four pins 5V VCC, Trig, Echo, and GND. To measure distance with the module the first step is to send a high pulse to the Trig pin. The module then internally performs a sonic burst and returns a high pulse to the Echo pin. The length of the pulse on the Echo pin corresponds to the distance of the sensor from the nearest object.   Download
Bill of Materials Spreadsheet of materials used for project construction. Some products were purchased in bulk but the price reflects only items that were utilized.   Download
Arduino Nano Pinout Graphic showing the Arduino Nano Pinouts. The Arduino Nano utilizes the ATmega328P microprocessor and is used in this project for communication between the computer and the product.   Download
up_down.m MATLAB code for controlling the z-axis of the payload. This is necessary for removing the drawing utensil from the page   Download
graph_function.m MATLAB code for controlling the motors to move the payload in lines around the paper. Configures PWM and direction signals on the Arduino Nano   Download
GUI MATLAB code for the user interface. Allows the user to input coordinates for lines to be drawn through G code. The user can also select 4 shapes that can be drawn at different sizes. The GUI shows a preview of what the Tribble will draw before it is drawn on the physical paper   Download
Executive Summary This is a PDF with the executive summary of the project. It shows our design goals, process, timeline, and what we learned.   Download
Final Project Video The Final Project Video Showcases every aspect of the Tribble Project. Each members describe their role in accomplishing our goal. There is also a short demonstration at the end of the video.   Link
Developer Guide The Developer Guide gives instructions for how to assemble the Tribble. This file also explains each of the blocks in great detail so that other developers would have the ability to recreate the project with technical understanding   Download