Transcript Final Presentation

Group 11- ASME Design Competition
• Alicia Christie
• Desmond Bourgeois
• Toddrick Ruff
1
Over View
• Introduction
• Needs Assessment and Product Specification
• Concept Generation
• Prototyping
• Final Design
• Manufacturing and Assembly
• Testing
• Cost Analysis
• Conclusion
• Recommendations / Improvements
• Acknowledgement
2
Introduction
Schematic of Test Course
2 – 1700 pt rocks
1 – 1600 pt
2 - 1500pt
2 – 1000pt
Score
S = Σ (R*t) +1000P - W - A - 1000T – 5s
R = designated rock score
t = target multiplier
W = Weight of the vehicle in grams
A = milliamp-hours available to the device according
to the battery labels
T = Times device touches border tape
s = seconds to complete task, maximum 240
P = bonus for parking vehicle at end of task (1 =
parked, 0 = not parked)
3
Needs Assessment / Product Specification
•Must fit into a box 6.5 x 6.5 x
14.5 in
•Needs to have the ability of
picking up rocks ranging from 2
to 4 cm
•Deliver rocks to receiving area
with accuracy
•Climb over 3.5 in high barriers
•Stay in bounds and maneuver
around obstacles
ROBOT
Maneuver over
obstacles swiftly
Collection and
Transportation
Ejection of
rocks
4
Concept Generation – External Sources
Stair Climbing Robot Mechatronics, Ariel
University Center
Packbot
Zaurus
Front-end Loader
Spiral Stair Climber
Phoenix Mars
Lander Robotic
Arm
5
Concept Generation – Internal Sources
Maneuver over obstacles swiftly
Ramp Carrying Robot
Expandable legs
Tank Drive
Individual Tank Treads
Front Spiral
6
Concept Generation – Internal Sources
Collection and Transportation of rocks
Chassis Drop
Robotic Arm
Street Sweeper
Air Jets
Dropping off rocks in receiving area
Dump Truck Style
Trap Doors
Single Door
7
Final Design- Collector / Expandable Body
Vampowerpro
continuous
rotation servo
8
Final Design- Controls / Electronics
Speed Controllers
Original
Transmitter
Motors
Receiver
Modified Transmitter
9
Final Design- Drive Train
Outer Shaft
= LOCKED
COMPONENT
Inner Shaft
Y-Brace
Wheel Gear
Assembly
Pinion Pulley
Motor
Motor
Belt
Inner
Shaft
Shaft Gear
T ratio=Driven/Drive
Outer Shaft
Common shaft gears = 1:1
Shaft Gear
Y-Brace
Gears in series = No torque increase
Gear_Ratio_of_Train1 
G3
G2
Gear_Ratio_of_Train1  1
Gear_Ratio_of_Train2 
Idle Gears
G3
G2
Gear_Ratio_of_Train2  1
10
Final Design- Drive Train
11
Manufacturing and Assembly
•Used a Dremel Tool for rock collector,
knife modifications, and for
modifications to the platform to attach
the expandable body
•Motor mounts, platform, rear and front
drive axel, Y-brackets, and false floor
made or modified in machine shop
•Utility knife for removing material from
wheels and wires
•Screw drivers
•Allen Wrenches
•Super Glue
•Mighty Putty
•3-56 screws
•Needle Nose Pliers
12
Testing- Rock Collector
• Conduct strain and force
analysis requirements
• Assemble rock collector
• Engage servo
• Load doors with rocks
Test Results
13
Testing: Electrical Components
• Sizing Batteries
– Motor Test
• Simulated Load Test
• Strobe Light RPM rating
– Milliamp hour calculation
• Total: 1500 mAh
• Wiring Test
– Peg board setup
• Component Synchronization
• Radio Transmitter/Receiver
14
Testing- Drive Train
Trial1
• Fully assemble robot (motors, mounts,
belts, etc.)
Test Results
• Check belt and pulley alignment
Trial 2 = Binding of shafts
• Check belt tension
Trial 3= Binding of shafts
Trial1 = Binding of shafts
• Check for collisions of parts
• Engage drive motors
Trial 2
Reiteration of Trial1
Trial 3
• Reiteration of Trial1
15
Budget Analysis
Controls
14%
Radio
Transmitter/Receiv
er
47%
Materials
43%
Electronics
Speed Controllers
53%
Controls
28%
Misc
15%
Electronics
Materials
14%
Plexiglas
40%
9%
Motors
Connectors/Misc
26%
Batteries
32%
Battery Charger
29%
Faserners
(Screws, Bolts,
Nuts, etc.)
Bearing Blocks
11%
14%
5%
8%
12%
Shafts
16
Conclusion
Ideal Alignment
= LOCKED
COMPONENT
Actual Alignment
Front View
Front View
Side View
Side View
Belt
Tension
Concentration
of Belt Force
and Friction
Belt
Tension
Clearance
17
Recommendations
Possible Mechanical Modification
Possible Electrical Modification
• Utilize ball bearings (Uniform and
reduced friction distribution)
• Incorporate motors with more torque
(servos are a possibility)
• Employ chain and sprocket sets
(Reduced radial load)
• Size down batteries to calculated
values ( Score increase)
• Incorporate gear box at motor (Increased
torque input)
Desired Configuration
• Take advantage of compound gear train
nature , Larger pinions on lower innermost
pinions (Increased torque)
Motor W/
More Torque
Ball Bearings
Chain
Larger Pinion Sprockets
18
Acknowledgements
Sponsors
American Society of Mechanical Engineers
Boeing
Individuals
Dr. Carl Moore
Dr. Dave Cartes
Dr. Chiang Shih
Dr. Daudi Waryoba
19