arson robot matt boyden, tim crowley, andrew hollyer
Post on 22-Dec-2015
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TRANSCRIPT
![Page 1: Arson Robot Matt Boyden, Tim Crowley, Andrew Hollyer](https://reader030.vdocuments.us/reader030/viewer/2022032523/56649d7e5503460f94a60b13/html5/thumbnails/1.jpg)
Arson Robot
Matt Boyden, Tim Crowley, Andrew Hollyer
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PROBLEM STATEMENT
Design and build a robot to assist in State Police
arson investigations. The robot must be able to:
• navigate inside a burned building
• carry and protect a hydrocarbon sensor
• take samples of charred material
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CURRENTLY AVAILABLE•MANY VEHICLES ARE AVAILABLE
•MOST DO NOT PROVIDE ROOM
FOR ADAPTION OF THE
HYDROCARBON SENSOR
•VEHICLES ARE HIGH PRICED
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KEY SPECIFICATIONS1. Can travel over debris at an incline of up to 30°2. Can travel under debris that is no less than 1½ ft
above the driving surface3. Can take samples of charred debris ranging in size
from ash to small fragments of wood with a max weight of 2 lbs
4. Carries and protects hydrocarbon sensor5. Controllable from a distance of up to 50 ft6. Sample collector can be decontaminated7. Under two feet wide8. Light weight (under 60 lbs)
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POSSIBLE SOLUTIONS
•TRACKED VEHICLE WITH UMBILICAL CONTROLS AND POWER AND A BUCKET FOR SAMPLING
•LARGE TIRED VEHICLE WITH ONBOARD
BATTERY POWER AND A GRAPPLE FOR
SAMPLING
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MATRIX
Travels over debris
Travels under debris
Can take samples
Carries hydrocarbon sensor
Controllable fro
m a distance
Will not ti
p over
Can be decontaminated
Less than tw
o feet w
ide
Under 60 lb
s
Total
Tracked Vehicle w/ Umbilical power and controls and bucket
5 5 5 5 5 4 5 5 5 44
Balloon Tires w/ onboard battery and a grapple
3 5 5 5 5 3 5 5 5 41
Scale is from 1 - 5, 5 is best, 1 is worst
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ORDER OF OPERATIONS
1. BUILD A VEHICLE CAPAPLE OF MEETING THE
SPECIFICATIONS
2. PROVIDE A MOUNT FOR THE HYDROCARBON
SENSOR AND PROVIDE AN AUDIO FEED TO
THE OPERATOR
3. ENABLE THE VEHICLE TO TAKE SAMPLES
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EXPERIMENTS & CALCULATIONSCoefficient of friction (μ) = .8
Approximate Weight (w) = 56 lbs
Hub Circumference (C) = 3π in.
Hub Radius (r) = 1.5 in.
Desired Maximum speed (V) = 84 ft./min.
Gearing Ratio (VR) = 3:1
Axle Diameter σ = MC/I = 1210 psi use Dia = 3/8 in
Force (F) required to move robot = μw = (.8)(56 lbs) = 44.8 lbs
Torque (τ) required to move robot = Fr = (44.8 lbs)(1.5 in.) = 67.2 in·lbs
Rotational speed (ω1) at outside of hubs = CV = (3π in.)(84 ft./min.) = 107 rad./min.
Rotation speed (ω2) at motor = (ω1)/(VR) = 4.908 rad/min
Rotation speed (n) at motor in rpm = (ω2)(180/π) = 281.25 rpm
Power (P) = (τ)(n)/63,000 = (67.2 in·lbs)(281.25 rpm)/63,000 = .3 hp
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RESEARCH & DESIGN
RESEARCH DONE ON TRACK SYSTEMS SHOWED THIS SYSTEM
AS A POSSIBLE SOLUTION.
1 2 3 4
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PARTS DESIGNED FOR THE TRACKS
HUBS FOR THE TRACK
•MODELED IN
INVENTOR
•TURNED ON LATHE
AND KNURLED FOR
FRICTION
•FOUR DRIVE HUBS,
FOUR IDLERS
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BUILDING THE VEHICLE
MOTORS DONATED
•12 VOLT
•6 RPM
•900:1 GEARBOX
•90 in-lb TORQUE
•2 AMPS
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WIRING OVERVIEW
FUSE
SWITCHSWITCHBATTERY
+ -
BATTERY
+ -
MOTOR MOTOR
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VIDEO CLIP
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STAIR TEST
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NEXT GENERATION
• POSITIVE DRIVE TRACK SYSTEM
• LARGER DRIVE SHAFTS
• EASIER ALIGNMENT OF TRACKS
• LIGHTER AND BETTER BALANCED FRAME
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CONCLUSION
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THANKS TO:
• PROFESSOR SAM COLWELL
• ROV TECHNOLOGIES inc.
• OESCO inc
• Dr. DAWN CARLETON
• PROFESSOR PAUL JOHNSON
• PROFESSOR MARY WALDO