Team 16: Mechanical Engineering Dalhousie University Senior Design Project Supervisor: Dr. WarkentinDec. 4 th 2012

Navigation 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 MechanicalElectricalSafety Conclusion Budget Further Considerations AGENDA

Navigation 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, 1989 From: Antigonish Height: 5" 7 Position: Sweeper JUSTIN COLWILL Born: Apr From: L-town Height: 62 Position: Midfield

Navigation PROJECT BACKGROUND Oldest & Universal Sport 3.5 Billion Fans Vital Component Ref: 1,2,3

Navigation 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. PROJECT BACKGROUND Ref: 4

Navigation HOWS IT DIFFERENT?? o Many sports machines. Ref: 5,6,7

Navigation HOWS IT DIFFERENT?? o Many sports machines. o Previous design projects. Ref: 8,9

Navigation o Many sports machines. o Previous design projects. Differences: Largest object launched Largest object launched Only the goalie Only the goalie Randomized Randomized Automatic Automatic Self Feed Self Feed HOWS IT DIFFERENT?? Ref: 10

9IntroRequirementsTestingAnalysisDesignConclusion

Navigation CRITERIA 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 a soccer ball to a random order of set points.

Navigation CRITERIA o 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 line36 ft (11 m) from net. 36 ft

Navigation The device should be able to launch a soccer ball in a random manner. 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 line36 ft (11 m) from net. o The device should be able to be set up by a single person. o The device should be transportable by truck and movable a single person. o The cost to build device should be no more than $2000 CND. o The device should operate at a reasonable shot interval of no more than 20 seconds. o The device should be safe. CRITERIA

Navigation Top Corners: V =19 m/s θ = 17° Bottom Corners: V =18 m/s θ = 5° Side view VELOCITIES & ANGLES

Navigation VELOCITIES & ANGLES 36 ft Top View 18°

Navigation TIMEOUT: GENERAL DESIGN IDEA Soccer Ball DualSpinningDisks

16IntroRequirementsTestingAnalysisDesignConclusion

Navigation Instron Machine Measure Compression Normal Force PHASE ONE: COMPRESSION

Navigation 18 PHASE ONE: COMPRESSION

Navigation PHASE TWO: DEFORMATION

Navigation F pull F friction F deformation (μ s + κ)F N F friction + F deformation = F pull (μ s + κ)F N F friction + F deformation = F pull PHASE TWO: DEFORMATION

Navigation PHASE TWO: DEFORMATION

Navigation F deformation function of the shapes. F friction function of materials. FBD of kinetic system TIMEOUT: DEFORMATION RELATION

IntroRequirementsTesting Analysi s Design Conclusio n

Navigation DEAD CENTRE FBD F deformation F kinetic F thrust = F coulomb + F viscous =βV=βV

Navigation FRICTION & VELOCITY β slope Ref 11 : Ref 11 : US Dept of Transportation: Friction: Analytical and Field Investigation

Navigation F thrust = F coloumb + F viscous + F deformation Deformation Force Coulomb Friction Force Contact Distance FORCES & WORK

Navigation ω i = 960 rpm Vthrust = % Compression REQUIRED RPM

IntroRequirementsTestingAnalysisDesign Conclusio n MECHANICAL

Navigation FINAL DESIGN Frame 1.5x1.5x.188 steel or aluminum tubing Wheels Overall Dimensions: LxWxH 48"x40"x27 LxWxH 48"x40"x27 " Motors Actuators Feed Mechanism Mobility Locking Wheels

Navigation MECHANICAL : TIRES Cheap energy storage Radius effects width Radius/Mass effect energy Rated at our speeds Opportunity for tuning Ref: 12

Navigation Energy source Shot recovery Launch speed 2 Motors (Spin?) AC (Plug In) Electrically Reversible (VFD) RPM 0.5HP MECHANICAL : MOTORS Ref: 13

Navigation MECHANICAL : ACTUATORS MECHANICAL : ACTUATORS Stroke 9 Pitch 0° to 20° Stroke 12 Yaw -23° to +23°

Navigation MECHANICAL : FEED Gear Motor Lead Screw Rail Design Slider

IntroRequirementsTestingAnalysisDesign Conclusio n ELECTRICAL & CONTROL

Navigation CONTROL SYSTEM

Navigation RANDOMLY SELECT TARGET ON NET MEASURE EXTENDED LENGTH (PITCH ANGLE) MEASURE EXTENDED LENGTH (YAW ANGLE) PARAMETER LOOK-UP TABLE: LAUNCH MOTOR SPEED YAW 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)

Navigation CONTROL FEEDBACK

Navigation SAFETY CONSIDERATIONS Emergency Stop. Safe Guarding. -Tire Enclosure -Electrical Enclosure Ref: 14

Navigation ELECTRICAL PartUnit CostQuantityTotal Cost AC Motor VFD $ $ /2 HP AC Motors $ $ A DC Motor Driver $15.003$ Arduino Due Microcontroller $ IR Distance Sensor $15.003$ Desktop PC Power Supply $ DIN Rail $ /100 HP Gear Motor $ Electrical Enclosure $ Assorted Electrical Components $ ELECTRICAL TOTAL (with tax) $ IntroRequirementsTestingAnalysisDesign Conclusio n BUDGET: ELECTRICAL

Navigation MECHANICAL PartUnit CostQuantityTotal Cost Gear MotorLoan1 $ 0.00 $ " Stroke Linear ActuatorLoan1 $ 0.00 $ " Stroke Linear ActuatorLoan1 $ 0.00 $ " Drive Wheels $ $ Heavy Duty Turn Table (non-lockable) $ Mobility Tires $ $ Assorted Hardware $ Lead Screw $ " x 1.50" x 1/8" Square Tubing $ $ Frame Paint $ MECHANICAL TOTAL (with tax) $ Grand Total (with shipping) $ IntroRequirementsTestingAnalysisDesign Conclusio n BUDGET: MECHANICAL

Navigation - FEM Analysis. - Building. - Physical Testing. -Practise, Practise, Practise! FURTHER CONSIDERATIONS Ref: 4

Navigation - One of a kind device. - No need for extra user. -Random -Automatic -Self Feed - Ample initial testing. - Great challenge for the winter! - Website & Contact SUMMARY

Dr. Bauer Blair Nickerson Jesse Keane Peter Jones John Macdonald

Navigation 1. china.htm 2. uca-for-homecoming-saturday/slu-billikens-soccer- fans/ 3. soccer-goalies-should-wear-red/ 4. redning/soccer-goalie-trying-to-block-goal/ 5. D=011&PROD= football-machine-6662.details.html 7. TNTM-2.html vlet/Product_10151_10051_347881_ rastructure/bridge/05083/appendf.cfm 12. owing/TrailerTires.jsp be-boys.html /6ad652a88a7f42ec/_b7b e8df1_ REFERENCES

Navigation Introduction Project Background (#4&5) Project Background (#4&5) Project Background Project Background Not your average Launching Machine (#8) Not your average Launching Machine (#8) Not your average Launching Machine Not your average Launching MachineRequirements Criteria (#10-12) Criteria (#10-12) Criteria Initial Velocity & Angles (#13 &14) Initial Velocity & Angles (#13 &14) Initial Velocity & Angles Initial Velocity & AnglesTesting Phase One: Compression (#16 &17) Phase One: Compression (#16 &17) Phase One: Compression Phase One: Compression Phase Two: Deformation (#18-20) Phase Two: Deformation (#18-20) Phase Two: Deformation Phase Two: Deformation Friction (#25) Friction (#25) Friction Backup Slides Backup SlidesAnalysis Kinetic FBD (#22-24) Kinetic FBD (#22-24) Kinetic FBD Kinetic FBD Energy Balance (#26-27) Energy Balance (#26-27) Energy Balance Energy BalanceDesign Final Design (#29) Final Design (#29) Final Design Final Design Mechanical (# ) Mechanical (# ) Mechanical Electrical (# ) Electrical (# ) Electrical Safety (#38) Safety (#38) Safety Conclusion Budget (#39 & 40) Budget (#39 & 40) Budget Further Considerations (#41) Further Considerations (#41) Further Considerations Further Considerations Summary (#42) Summary (#42) Summary NAVIGATION TABLE

Navigation Kinematic Equations Top Corner Analysis Bottom Corner Analysis Drag Thrust Force AC VFD DC Diagram Custom Hub AC Power BACK UP SLIDES

Navigation KINEMATIC EQUATIONS

Navigation Availability at test locations Cost WHY AC POWER?? Ref: 15, 16

Navigation TOP CORNER ANALYSIS

Navigation BOTTOM CORNER ANALYSIS

Navigation DRAG

THRUST FORCE EQUATIONS

Navigation THRUST FORCE ANALYSIS

Navigation 56 AC VFD

Navigation 57 DC DIAGRAM

Navigation MECHANICAL : HUB