Team 14: The Design and Construction of an Ackerman-Steered Robot Members: Kyle Quinn Julio Sosa Robert Steel Trevor Woods

CISCOR  Dr. Emmanuel Collins Vision  “Use state-of-the-art technology to develop practical solutions to problems in systems, control and robotics for applications in industry and government.” Who is the Customer?

Autonomous Robot Ackerman Steering Integrable  SICK laser  Electric motors  Control modules Problem

Scope  To design, build, and test an autonomous Ackerman steered robot Customer Needs  Ackerman Steering  Basic weather protection  4-wheel independent drive  All-terrain Project Scope

Ackerman Steering 4” ground clearance 4-wheel drive Independent suspension 10mph+ top speed 100lb towing capacity Climb 30° incline 1 hour between charges Easy assembly Product specifications

Description  Wheels turn around different radii  Allows greater cornering stability  Better traction  Works well with supplied motors Ackerman Steering

MacPherson Suspension Pros  Simple  Cost Efficient  Increased Stability Cons  Tall  Modified frame  Poor suspension travel

Pros  Time tested  Greater travel  Increased stability  Adjustable Cons  Expensive  Complicated Double Wishbone Suspension

Pros  Increased space  Good wheel travel Cons  Less stable  Non-standard frame  Poor turning radius Trailing Arm Suspension

Decision Matrix

Robot Design Includes  Ackerman steering  Double wishbone suspension  4-wheel independent drive  Basic weather protection Future Plans  Integrate all subsystems  Detailed dimension design  FEM analysis  Order raw materials Conclusion

Questions?