rimless wheel project update
DESCRIPTION
Rimless Wheel Project Update. Week 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 Needs. Periodic motion Walk at least 25 steps - PowerPoint PPT PresentationTRANSCRIPT
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?