team 16: mechanical engineering dalhousie university senior design project supervisor: dr....
TRANSCRIPT
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Team 16: Mechanical Engineering Dalhousie University
Senior Design Project Supervisor: Dr. Warkentin Dec. 4th 2012
SOLO SOCCER TRAINER
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2Navigation
2
Introduction Project Background Not your average Launching Machine
Requirements
Criteria Initial Velocity Angles
Testing Phase One: Compression
Phase Two: Deformation
Analysis Compression Functions Energy Balance
Design Final Design Mechanical Electrical Safety
Conclusion Budget Further Considerations
AGENDA
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3Navigation
Intro Requirements Testing Analysis Design Conclusion
3
TEAM ROSTER
NADA EL SAYED
Born: April 1, 1991
From: Port Said
Height: 5"10
Position: Striker
KEVIN BOUTILIER
Born: Nov. 12, 1989 From:
Williamwood Height:
6"1 Position:
Goalie
GREG PELLY Born: Oct. 10,
1989From:
Antigonish Height:
5"7 Position: Sweeper
JUSTIN COLWILL
Born: Apr 30 1990
From: L-town Height:
6“2 Position: Midfield
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Intro Requirements Testing Analysis Design Conclusion
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PROJECT BACKGROUND
Oldest & Universal Sport
3.5 Billion Fans
Vital Component
Ref: 1,2,3
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Intro Requirements Testing Analysis Design Conclusion
o Penalty kick stat:
Only 12% goalie save rate!
Our project will attempt to aid in the solo soccer
training process to improve the chances of successfully saving a
goal.
5
PROJECT BACKGROUND
Ref: 4
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6Navigation
Intro Requirements Testing Analysis Design Conclusion
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HOW’S IT DIFFERENT??
o Many “sports” machines.
Ref: 5,6,7
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7Navigation
Intro Requirements Testing Analysis Design Conclusion
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HOW’S IT DIFFERENT??
o Many “sports” machines.o Previous design projects.
Ref: 8,9
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Intro Requirements Testing Analysis Design Conclusion
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o Many “sports” machines.o Previous design projects.
Differences: Largest object launched Only the goalie Randomized Automatic Self Feed
HOW’S IT DIFFERENT??
Ref: 10
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DESIGN REQUIREMENTS
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Intro Requirements Testing Analysis Design Conclusion
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IntroRequiremen
tsTesting Analysis Design Conclusio
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Navigation
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CRITERIAo The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center).
oThe device should be able to launch a soccer ball to a random order of set points.
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CRITERIAo The device should be able to launch a soccer ball to a random order of set points.
o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center).
o The device should be able to launch from the penalty line—36 ft (11 m) from net.
36 ft
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o The device should be able to launch a soccer ball in a random manner.
o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center).
o The device should be able to launch from the penalty line—36 ft (11 m) from net.
oThe device should be able to be set up by a single person.
oThe device should be transportable by truck and movable a single person.
oThe cost to build device should be no more than $2000 CND.
oThe device should operate at a reasonable shot interval of no more than 20 seconds.
oThe device should be safe.
CRITERIA
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Top Corners:V =19 m/sθ = 17°
Bottom Corners:V =18 m/sθ = 5° Side view
VELOCITIES & ANGLES
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VELOCITIES & ANGLES
36 ft
Top View
18° 18°
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TIMEOUT: GENERAL DESIGN IDEA
Soccer Ball
Dual Spinning
Disks
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TESTING
16
Intro
Requirements
Testing
Analysis
Design
Conclusion
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
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Instron Machine
Measure Compression
Normal Force
PHASE ONE: COMPRESSION
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Intro
Requirements
Testing
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Design
Conclusion
Navigation
0.00% 5.00% 10.00% 15.00% 20.00% 25.00% 30.00%0
2
4
6
8
10
12
f(x) = NaN x + NaNR² = 0
% Ball Compression vs. FN
Compression (%)
FN (
N)
18
PHASE ONE: COMPRESSION
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
PHASE TWO: DEFORMATION
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
Fpull
Ffriction
Fdeformation
(μs + κ)FN ≈ Ffriction + Fdeformation = Fpull
PHASE TWO: DEFORMATION
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
1% 2% 3% 4% 5% 6% 7% 8% 9% 10%0
20
40
60
80
100
120
140
160
f(x) = 10028.5640387728 x² + 870.951979747877 x − 10.018551830704R² = 0.970400396853243
Deformation Force vs. Ball Compression
Exper-imental DataPolynomial (Experi-mental Data)
Compression (%)
Fdefr
om
ati
on (
N)
PHASE TWO: DEFORMATION
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Fdeformation ≈ function of the
shapes.
Ffriction ≈ function of materials.
FBD of kinetic system
TIMEOUT: DEFORMATION
RELATION
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ANALYSIS
Intro
Requirements
Testing
Analysis
Design
Conclusion
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Requirements
Testing
Analysis
Design
Conclusion
Navigation
DEAD CENTRE FBD
Fdeformation
Fkinetic
Fthrust = Fcoulomb + Fviscous
=βV
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
-15
-25
Friction vs. Velocity Model
FcoulombFviscousFtotal
Velocity (m/s)
Fri
ctio
n F
orc
e (
N)
FRICTION & VELOCITY
β slope
Ref 11 : US Dept of Transportation: Friction: Analytical and Field Investigation
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
∑Fthrust = ∑ Fcoloumb + ∑ Fviscous + ∑ Fdeformation
ΔW ba l l on t i re = – ΔW t i re on ba l l
Deformation Force
Coulomb Friction Force
Contact Distance
FORCES & WORK
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
ω i = 960 rpm
Vthrust = 20.5 m/s@ 18% Compression
REQUIRED RPM
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DESIGN
Intro
Requirements
Testing
Analysis
Design
Conclusion
MECHANICAL
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
FINAL DESIGN
• Frame 1.5x1.5x.188 steel or
aluminum tubing
• Wheels
• Overall Dimensions: LxWxH
48"x40"x27"
• Motors
• Actuators
• Feed Mechanism
• Mobility Locking Wheels
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
MECHANICAL : TIRES
• Cheap energy storage• Radius effects width• Radius/Mass effect energy
𝐸=12𝐼 𝜔2
𝐼=𝑚𝑟2
2
• Rated at our speeds• Opportunity for tuning
Ref: 12
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
• Energy source• Shot recovery• Launch speed• 2 Motors (Spin?)
• AC (Plug In)• Electrically Reversible
(VFD)• 0-1800 RPM • 0.5HP
MECHANICAL : MOTORS
Ref: 13
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
MECHANICAL : ACTUATORS
Stroke
9”
Pitch
0° to 20°
Stroke
12”
Yaw
-23° to +23°
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
MECHANICAL : FEED
• Gear Motor• Lead Screw• Rail Design• Slider
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DESIGN
Intro
Requirements
Testing
Analysis
Design
Conclusion
ELECTRICAL & CONTROL
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
CONTROL SYSTEM
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36Navigation
RANDOMLY SELECT
TARGET ON NET
MEASURE EXTENDED
LENGTH (PITCH ANGLE)
MEASURE EXTENDED
LENGTH (YAW ANGLE)
PARAMETER LOOK-UP TABLE:
LAUNCH MOTOR SPEEDYAW ACTUATOR LENGTH
PITCH ACTUATOR LENGTH
COMPARE ACTUAL
EXTENDED LENGTH TO
DESIRED VALUE(PITCH ANGLE)
MICROCONTROLLER LOGIC
OUTPUTS TO DRIVER SYSTEMS
SET LAUNCH MOTORS ANGULAR
VELOCITIES
SET YAW ACTUATOR EXTENDED
LENGTH
SET PITCH ACTUATOR EXTENDED
LENGTH
ENGAGE LOADING
MECHANISM(LEAD
SCREW)
SINGLE BALL IS
LAUNCHED
RETURN TO
START
START
COMPARE ACTUAL
EXTENDED LEGNTH TO
DESIRED VALUE(YAW ANGLE)
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
CONTROL FEEDBACK
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
SAFETY CONSIDERATIONS
• Emergency Stop.
• Safe Guarding.
- Tire Enclosure
- Electrical Enclosure
Ref: 14
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
ELECTRICAL
Part Unit Cost Quantity Total CostAC Motor VFD $120.00 2 $ 240.00
1/2 HP AC Motors $100.00 2 $ 200.00
10 A DC Motor Driver $15.00 3 $ 45.00
Arduino Due Microcontroller $50.00 1 $ 50.00
IR Distance Sensor $15.00 3 $ 45.00
Desktop PC Power Supply $50.00 1 $ 50.00
DIN Rail $10.00 1 $ 10.00
1/100 HP Gear Motor $50.00 1 $ 50.00
Electrical Enclosure $ 75.00 1 $ 75.00
Assorted Electrical Components
$ 150.00 1 $ 150.00
ELECTRICAL TOTAL
(with tax)
$ 1052.25
Intro
Requirements
Testing
Analysis
Design
ConclusionBUDGET: ELECTRICAL
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Design
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Navigation
MECHANICAL
Part Unit Cost Quantity Total CostGear Motor Loan 1 $ 0.00
12" Stroke Linear Actuator Loan 1 $ 0.009" Stroke Linear Actuator Loan 1 $ 0.0016" Drive Wheels $ 40.00 2 $ 80.00 Heavy Duty Turn Table (non-lockable)
$ 65.00 1 $ 65.00
Mobility Tires $ 17.00 4 $ 68.00 Assorted Hardware $ 120.00 1 $ 120.00 Lead Screw $ 12.00 1 $ 12.00 1.50" x 1.50" x 1/8" Square Tubing
$ 47.00 2 $ 94.00
Frame Paint $10.00 1 $ 10.00 MECHANICAL TOTAL
(with tax)$ 516.35
Grand Total (with shipping) $ 1803.89
Intro
Requirements
Testing
Analysis
Design
ConclusionBUDGET: MECHANICAL
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
- FEM Analysis.
- Building.
- Physical Testing.
-Practise, Practise, Practise!
FURTHER CONSIDERATIONS
Ref: 4
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
- One of a kind device.
- No need for “extra” user.
-Random
-Automatic
-Self Feed
- Ample initial testing.
- Great challenge for the winter!
- Website & Contacthttp://poisson.me.dal.ca/~dp_12_16/
SUMMARY
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THANKS TO :
Mechanical Engineering DepartmentShell CanadaDr. Militzer
Dr. Warkentin
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SPECIAL THANKS TO :
Dr. Bauer Blair Nickerson
Jesse KeanePeter Jones
John Macdonald
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Navigation
1. http://multipletext.com/2011/8-soccer-in-ancient-
china.htm
2. http://soccerstl.net/2012/09/28/slu-billikens-host-
uca-for-homecoming-saturday/slu-billikens-
soccer-fans/
3. http://tallhorsewines.wordpress.com/
2010/04/21/soccer-goalies-should-wear-red/
4. http://www.footy.dk/2012/09/26/video-arets-
redning/soccer-goalie-trying-to-block-goal/
5. http://www.justbaseball.us/Qstore/Qstore.cgi?
CMD=011&PROD=1129084852
6. http://www.sports-inter.com/en/football/jugs-
football-machine-6662.details.html
7. http://www.fitness-sports.co.uk/tennis/TENNIS-
TNTM-2.html
8. http://poisson.me.dal.ca/~dp_11_02/
9. http://poisson.me.dal.ca/~dp_08_06/
10. http://www.academy.com/webapp/wcs/stores/
servlet/Product_10151_10051_347881_-1
11. http://www.fhwa.dot.gov/publications/research/
infrastructure/bridge/05083/appendf.cfm
12. http://www.canadiantire.ca/AST/browse/4/Auto/
Towing/TrailerTires.jsp
13. http://www.gallantmotor.com/acvsdc
14. http://banat4today.blogspot.ca/2011/09/boys-will-
be-boys.html
15. http://www.cox.com/support/cable/
nopic_gothere.asp
16. http://www.google.com.ng/local/trader/listing/-/
6ad652a88a7f42ec/_b7b61055202e8df1_
REFERENCES
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QUESTIONS?
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Extra Info
Navigation
IntroductionProject Background (#4&5)
Not your average Launching Machine (#8)
RequirementsCriteria (#10-12)
Initial Velocity & Angles (#13 &14)
TestingPhase One: Compression (#16 &17)
Phase Two: Deformation (#18-20)
Friction (#25)
Backup Slides
AnalysisKinetic FBD (#22-24)
Energy Balance (#26-27)
DesignFinal Design (#29)
Mechanical (#30 - 33)
Electrical (#34 - 37)
Safety (#38)
ConclusionBudget (#39 & 40)
Further Considerations (#41)
Summary (#42)
NAVIGATION TABLE
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Extra Info
Navigation
Kinematic EquationsTop Corner AnalysisBottom Corner AnalysisDrag Thrust ForceAC VFDDC DiagramCustom HubAC Power
BACK UP SLIDES
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Extra Info
Navigation
KINEMATIC EQUATIONS
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Extra Info
Navigation
• Availability at test locations
•Cost
WHY AC POWER??
Ref: 15, 16
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Extra Info
Navigation
-0.8 0.2 1.215161718192021222324
57911131517192123
Launch Height vs. Launch Velocity & Angle
Initial VelocityAngle of Launch
Launch Height (m)
Init
ial
Ve
loci
ty (
m/s
)
An
gle
of
Lau
nch
(d
eg
)
TOP CORNER ANALYSIS
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BOTTOM CORNER ANALYSIS
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 118.8
19
19.2
19.4
19.6
19.8
20
0
2
4
6
8
10
Launch Height vs. Launch Velocity and Angle
Initial VelocityAngle of Launch
Launch Height (m)
Init
ial V
elo
city
(m
/s)
An
gle
of
Lau
nch
(D
eg
)
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DRAG
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 218
18.5
19
19.5
20
20.5
21
21.5
22Ball Velocity with Drag vs.
Time
Time (s)
Ball
Velo
city
(m
/s)
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Intro
Requirements
Testing
Analysis
Design
Conclusion
Extra Info
Navigation
THRUST FORCE EQUATIONS
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Extra Info
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THRUST FORCE ANALYSIS
0 5 10 15 20 250
500
1000
1500
2000
Ball Diameter vs. Fthrust
Ball Diameter (inch)
F t
hru
st (
N)
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56
AC VFD
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57
DC DIAGRAM
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Extra Info
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MECHANICAL : HUB