Mobility and Navigation AME 470: Senior Design ASME Bulk Material Transporter Matt Bertke, Paul DeMott, Patrick Hertzke, Will Sirokman 23 September 2004

Operator drives forward to first step; initiates phase 1 Phase 1 Treads lock Swing arm rotates to incline front of vehicle Swing arm locks Operator drives forward to step; initiates phase 2 Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Automation Stair Climbing Algorithm Phase 2 Treads lock Swing arm unlocks and rotates to the of vehicle Swing arm locks

Operator drives forward to first step; initiates phase 3 simultaneously Phase 3 Treads unlock Swing arm rotates ccw and begins to lift rear of vehicle Swing arm locks in When weight of vehicle is firmly no the next step, operator initiates phase 4 Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Automation Stair Climbing Algorithm Phase 4 Swing arm unlocks and rotates clockwise; returns to starting position

Senior Design: Team Burja ____________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Stair Descent Process (Non Automated) Vehicle descends stairs back first. Cushion from the treads dampens fall slightly. Swinging strut attached to the front of the vehicle assists second fall of front end. Edge of the tread clears upper step and strut swing into parallel with the top of the tread (held in position by a rubber stopper). Vehicle drives clear of the upper step completes the descent. System allows for a smaller series of controlled falls and ensures impact force distribution to the frame and not drive train.

Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Locomotion Optimizing Torque and Speed of Swing-Arm Swing-arm trade study Independent drive treads Independent treads minimize turning radius Tread material and size to maximize traction Motor trade study Arm position control Motor braking and actuation Arm wheel design

Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Power and Electronics Power supply Available battery power vs. motor requirements Power distribution Potential energy study Electronic Control Automation of ascent process Individual drive tread control Operator interface

Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Key Issues Stability Margin of error Vehicle dimensions Vehicle speed Variability in motor precision and control input Center of Gravity Positioning with and without grain load Motor, battery, and grain container positioning