Rimless Wheel Project

UpdateWeek 4

What are we doing again? Current prototype ->• Can move down an

8 degree incline• Non-ideal

construction Our job:• Improve wheel design• Make robot autonomous

Customer Needs1.Periodic motion2.Walk at least 25 steps3.Endure several trials on one

charge4.Be portable5.0.05 - 0.1 Cost of Transport

(CoT)

Customer Needs, cont.6. Collect motion data

a.Angular velocityb.Angle between wheel and

frame7. Collect current/voltage data

c.Batteriesd.Actuators

Specifications

Risk ManagementIllness/time consuming obligations (1,3)

Effectiveness of actuation (3,3)

Lead times and Manufacturability (3,3)

Balancing weights of new components (1,3)

Material flaws (2,1) Accuracy of Sensors (2,1)

Theory -> Physical (2,3)

Technical errors (3,1)

Cost vs quality (2,3) Lag time of controls (3,1)

Functional Decomposition

System Block Diagram

Design Ideas Outline• Frame materials • Actuation• Spring • Axle• Sensors • Batteries

Design Ideas, cont.• Data storage devices • uProcs + ADC

o motor control o data acquisition

Frame materials

Metals• Aluminum• Steel

Composite Materials• Fiberglass• Carbon Fiber

Frame• Plate• Truss structure

CAD Drawings

CAD Drawings

CAD drawings

Possible Invitees to SDR• Dr. Gomes• Mr. Edward Hanzlik• Mr. Leslie Moore• Dr. Slack• Dr. Sahin?

Proposed Agenda

Questions/Comments?