Presentation is loading. Please wait.

Presentation is loading. Please wait.

SPLAT Small robotic Platforms for Limited Access Terrain Project Sponsor: Eglin Air Force Base Munitions Directorate Air Force Research Laboratory Contact:

Similar presentations


Presentation on theme: "SPLAT Small robotic Platforms for Limited Access Terrain Project Sponsor: Eglin Air Force Base Munitions Directorate Air Force Research Laboratory Contact:"— Presentation transcript:

1 SPLAT Small robotic Platforms for Limited Access Terrain Project Sponsor: Eglin Air Force Base Munitions Directorate Air Force Research Laboratory Contact: Mr. Jeffrey Wagener Team # 5: Jeffrey Dalisay Michael Genovese Ivan Lopez Ryan Whitney

2 2 Statement of Need/Problem Definition In order to collect accurate and sufficient intelligence, there is a need for small platforms that can maneuver on both horizontal and vertical surfaces. Design subsystems that would allow a small robotic platform to: – Transition between horizontal and vertical planes – Translate vertically a minimum of 5ft – Remain on the vertical plane for 30 minutes – Be confined by a box no bigger than 6”x6”x6”

3 3 Objectives Design and fabricate vertical wall crawler concepts for a small robotic platform Optimize subsystems for performance, size, and weight, by addressing material selection Michigan State crawler Clarifying Technologies Michigan State flipping robot

4 4 Motion – Wheels – Legs Adhesion – Not all surfaces are magnetic – Adhesive substance or fluid will get dirty – Wall damage could cause surface failure Control – Radio – Digital Design Idea Generation/Necessary Components Electromagnetic Robot Cart with adhesive tracks Cart that secretes adhesive fluid Drilling Robot Cart with blower/turbine Suction Robot Suction Car IdeasNecessary Components

5 5 Concept 1: Cart w/ Blower Thrust from the blower will force the cart against the wall, and the wheel in front will help the transition between the floor and wall.

6 6 Concept 2: Robot w/ Suction Transition from ground to wall will use three axes of rotation (one for each suction cup and one in the middle).

7 7 Concept 3: Suction Car

8 8 Design Matrix Weighting factors were determined based on the needs specified by the customer Scores were determined by a general consensus of all group members Blower seemed to be the “best” overall design based on the total ranking. 6.65

9 9 Necessary Components for Blower Design Movement Motors (2) Wheels Tracks Blower Concept Impeller/Propeller Stronger motor Duct Radio Control (RC) Radio Receiver

10 10 Radio Control 4/6 Channel Transmitter 1 channel for each motor (3) Extra channels for possibility of added components Receiver 1 port for each channel Connects transmitter to motor Speed Controls 1 for brushless motor

11 11 Fan Wattage PowerFan w/ 400f Brushed Motor Park 400 Brushless Motor – 4200 RPM/Volt – Total Weight = 3.78oz – $54.99 Specs – At 10V 9A, Thrust = 9.5oz, RPM = 20700 – Total weight = 4.13oz – Outer diameter = 3.1in – $43.74

12 12 Radio Hitec Laser 6 – 6 channel 75MHz FM transmitter – Elevon mixing Control all motion with the right joystick alone Left joystick for the fan – $134.99 – Also included: Supreme 8 channel receiver 2 HS-325 servos

13 13 Body: Fiberglass Fiber Mat – Resin distributes by itself – Unorganized fibers – ~$2.50/yard (1yd by 38”) Cloth – Patterned (squares) – Must work resin in more thoroughly – Isotropic Properties – ~$5/yard Resin Polyester – Cheap – Relatively strong – ~$10/Quart Epoxy – Higher Strength – Bonds to metal – ~$20/Quart

14 14 Body Construction Initial Creation Foam was used to create body molds Cloth then laid down and Epoxy brushed on Different angles used for fan Improved Method Cutting strips is easier to shape around the fan duct Cloth was dipped in hardener, and set onto platform Platform then cut to size (See Picture)

15 15 Fan Testing Motor Characteristics - Power(Voltage,Current) - Thrust(Power)

16 16 Initial Results Thrust vs. Power of both the Brushed and Brushless 400 motors Points from Fan/Motor Manual

17 17 Drivetrain Attaching the axles – Plastic braces for support, and then glued to body – Wheels put on, and axle tips burned Motors – Brushless were first used Needed to handle 12V Too heavy(1.6oz each), too much speed – Servos then purchased Made continuous Lightweight (.6oz each)

18 18 Drivetrain cont… Different designs: – Bodies made with different wheels, and motor setups Front wheel/rear wheel drive Some had idler wheels Varying wheel sizes to change ground clearance

19 19 Optimizing Traction Maximize friction without overloading the motors Numerous treads were tested – Electrical, Double sided, and waterproof tape – Rubber bands – Spray Adhesive

20 20 Final Mockup Front wheels to help vertical transition 2 continuous servos for motion Final design has shorter track widths with body stiffener

21 21 Final Design

22 22 Improvements Quicker servos for a faster platform Metal gears to reduce slippage and stripping On board Power source More efficient impeller Better driving wheel coupling

23 23 Acknowledgments Mr. Jeffrey Wagener and Dr. Joel House: Contact/Sponsor at Eglin Air Force Base Jeff Radkins: Owner of Hobbytown USA Kyle: Global Hobby Jon Cloos: Purchase Orders Dr. Luongo SAE Club for fiberglass help


Download ppt "SPLAT Small robotic Platforms for Limited Access Terrain Project Sponsor: Eglin Air Force Base Munitions Directorate Air Force Research Laboratory Contact:"

Similar presentations


Ads by Google