CeilBot 7 - Sports HallGuillaume MERCIERMassinissa AIT-GHERBI

New Statement•Functions:

▫Video Recording▫Interactive Player▫Virtual Coach▫Cleanning the sport hall▫Catch balls

•Design:▫4 cables – 4 motors – 4 pulley▫1 stabilizator – 1 arm

New Interactive player

Playground cleaner

Ball catcher

Kinematics

Kinematics• Cable lengths are measured from the top of the

pulleys.

(x, y, z) is the pod position and (xi, yi, zi) is the position of the top of the ith pulley

• The position of each pulley is given by:

Kinematics•In terms of cable lengths, given a

speciefied ceilbot position (x, y, z), the required lengths are:

Kinematics•For solving this equation we will need 3

actives cables . Here we choose l1, l2, l3 for which (x, y, z) are given by:

Communication

Can Bus

PowerSpring wire for power & communication

220V

Stabilizator

MotorAccelerometerInertial central & controller

CeilBot controller

Safety issues•Emergency button•Sensor on the ceilbot to avoid obstacle•Buzzer to prevent somebody

•Skycam: 1 accident with no injury

SimulationTennis racket:

Mass 215 gTennis ball

Masse 55 gRadius 3,35 cm

Ceilbot in aluminium1 pipe mass 24,5 kg2 pipe mass 7,4 kgArm part I and II 5,5 kg each

Thank You