1. Brainstorming VI Ville Rahikka Juuso Kinnunen

2. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk ofor hydraulics opossibly for vacuum oPressure source compressor on board –might be heavy and loud pressure imported via hose from static compressor –long hoses

3. Trunk http://www.youtube.com/wa tch?v=iNgdqOLtUZY&NR= 1http://www.youtube.com/wa tch?v=iNgdqOLtUZY&NR= 1 http://www.youtube.com/wa tch?v=tzL_UZkdLPYhttp://www.youtube.com/wa tch?v=tzL_UZkdLPY Manipulator also pressure powered Ballbearing or universal joint

4. Power transmission via one wheel One driving wheel ofriction between rail and tire otire big enough to be able transmit enough power and contain all the necessary parts osupporting structure has to be strong and secure (other safe mechanisms) Trade-in between size of the tire and the rail

5. Power transmission via two wheels Two driving/supporting wheels omore safe otwo motors consume more space more power Main issue is curves owheels has to be able to bend/twist - follow the shape of the curve ocurves has to be huge oalso size of the machinery operating turntables increase

6. Air muscles Length: 210mm Pull at 50 Psi: 12 kg Max. Pull: 20kg

7. Electric air compressor example 260x110x150mm Max. Pressure: 42 Psi W: 4kgs N: 65 Db

8. Quick force calculation Result 10 Nm

9. Approximate robot weight Compressor 5 - 8kg Motor 1 kg Body 5 kg Arm 5 - 8 kg Telescopes 3 kg Total ~25 kg