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Group 11- ASME Design Competition

• Alicia Christie

• Desmond Bourgeois

• Toddrick Ruff

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Over View

• Introduction • Needs Assessment and Product Specification • Concept Generation• Prototyping• Final Design• Manufacturing and Assembly• Testing • Cost Analysis• Conclusion• Recommendations / Improvements • Acknowledgement

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Introduction

 ScoreS = Σ (R*t) +1000P - W - A - 1000T – 5sR = 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)

 

2 – 1700 pt rocks1 – 1600 pt 2 - 1500pt2 – 1000pt

Schematic of Test Course

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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

Collection and Transportation

Maneuver over obstacles swiftly

Ejection of rocks

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Stair Climbing Robot - Mechatronics, Ariel University Center

Zaurus Spiral Stair Climber

Packbot Front-end LoaderPhoenix Mars Lander Robotic Arm

Concept Generation – External Sources

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Maneuver over obstacles swiftly

Ramp Carrying Robot Tank Drive Individual Tank Treads

Expandable legs Front Spiral

Concept Generation – Internal Sources

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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

Concept Generation – Internal Sources

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Final Design- Collector / Expandable Body

Vampowerpro continuous rotation servo

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Final Design- Controls / Electronics

Original Transmitter Receiver Modified Transmitter

Speed ControllersMotors

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Final Design- Drive Train

Inner Shaft Outer Shaft

Idle Gears

Belt

Y-Brace

Pinion Pulley

Wheel GearAssembly

MotorMotor

Shaft Gear

Y-Brace

Shaft Gear

= LOCKED COMPONENT

Inner Shaft Outer Shaft

Gear_Ratio_of_Train2G3

G2

Gear_Ratio_of_Train2 1

Gear_Ratio_of_Train1G3

G2

Gear_Ratio_of_Train1 1

T ratio=Driven/Drive

Common shaft gears = 1:1

Gears in series = No torque increase

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Final Design- Drive Train

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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

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Testing- Rock Collector

• Conduct strain and force analysis requirements

• Assemble rock collector

• Engage servo

• Load doors with rocks

Test Results

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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

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Testing- Drive Train Trial1

• Fully assemble robot (motors, mounts, belts, etc.)

• Check belt and pulley alignment

• Check belt tension

• Check for collisions of parts

• Engage drive motors

Trial 2 Reiteration of Trial1

Trial 3• Reiteration of Trial1

Test Results

Trial1 = Binding of shafts

Trial 2 = Binding of shafts

Trial 3= Binding of shafts

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Conclusion Ideal Alignment Actual Alignment

Belt Tension

Clearance

Concentration of Belt Force and Friction

Front View Front View

Side View Side View

= LOCKED COMPONENT

Belt Tension

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Motor W/ More Torque

Recommendations Possible Mechanical Modification

• Utilize ball bearings (Uniform and reduced friction distribution)

• Employ chain and sprocket sets (Reduced radial load)

• Incorporate gear box at motor (Increased torque input)

• Take advantage of compound gear train nature , Larger pinions on lower innermost pinions (Increased torque)

Possible Electrical Modification

• Incorporate motors with more torque (servos are a possibility)

• Size down batteries to calculated values ( Score increase)

Larger Pinion SprocketsChainBall Bearings

Desired Configuration

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AcknowledgementsSponsors

American Society of Mechanical Engineers

Boeing

Individuals

Dr. Carl Moore

Dr. Dave Cartes

Dr. Chiang Shih

Dr. Daudi Waryoba