Payload Integration

System:
CDR

Payload Integration

Summary
An elevated 28.3" arm will pick up the
payload from the ground with a claw,
rotate it 170 to be directly above the
rocket, orient the payload with a
jointed "wrist," and release the
payload into the payload bay by
opening the claws.

Changes since PDR

Following the redesign of the payload
bay on the rocket, a "wrist" component
was added to the payload integration
arm in order to place the payload into
the rocket in a vertical orientation. This
required an additional servo motor and
added an additional degree of motion
to the system.

Analysis Results
Analyses were conducted through a
CAD model in Creo Parametric 2.0.
By integrating servo motors, the
desired range of motion was
specified for each servo-controlled
joint and the series of rotations of the
motors were collected in one
analysis.

Test Results
The estimated time required for
movement of the payload could be
measured.
Programming a speed of 10 degrees
per second into each servo yielded a
total required time of 40.5 seconds to
move the payload from the ground
into the bay.

System-level functional
Requirements

Demonstration

Fully autonomous

A program will be created to

control all servo motors on the
payload integration arm

Time limit of 10 minutes for whole From CAD simulations, the

of AGSE
process moving the payload from
the ground into the rocket
payload bay was timed to take
40.5 seconds using a reasonable
motor speed of 10 degrees per
second.

Integration Plan
The payload integration arm system will be mounted at a 40
degree angle on a 23-inch-tall platform above the ground.
The arm will begin in downward position with an open claw.
When activated, two micro servos controlling the two halves
of the claw will rotate the claw and close around the
payload.
The standard servo located at the joint between the base
and the arm will rotate 180 degrees to move the payload
above the open bay on the rocket.
Then a micro servo located at the joint between the claw
box and the arm will rotate the claw box to orient the
payload vertically above the bay.
Lastly, the two micro servos controlling the claw will rotate
to open the claw and release the payload into the open bay
flap.

Payload Success Criteria

Item

Success Criteria

Material Resilience

Observing condition of the balsa

wood after 10 trial runs, ranking it
0-5.
0 being broken or completely
deteriorated.
5 being in identical condition.

Calibration of servo motor speed

Excellence - a time within 2

minutes.
Satisfactory - a time longer than
2 minutes but still within the time
limit of 10 minutes.
Failure - does not deliver the
payload within the competition
requirements.

Delivery position

Gauged on a 0-5 scale over a

span of 10 trials.
5 - payload consistently oriented