1. Rimless Wheel Project Update Week 4

2. What are we doing again? Current prototype -> Can move down an 8 degree incline Non-ideal construction Our job: Improve wheel design Make robot autonomous

3. Customer Needs 1. Periodic motion 2. Walk at least 25 steps 3. Endure several trials on one charge 4. Be portable 5. 0.05 - 0.1 Cost of Transport (CoT)

4. Customer Needs, cont. 6. Collect motion data a.Angular velocity b.Angle between wheel and frame 7. Collect current/voltage data a.Batteries b.Actuators

5. Specifications

6. Risk Management Illness/time consuming obligations (1,3) Effectiveness of actuation (3,3) Lead times and Manufacturability (3,3) Balancing weights of new components (1,3) Material flaws (2,1)Accuracy of Sensors (2,1) Theory -> Physical (2,3)Technical errors (3,1) Cost vs quality (2,3)Lag time of controls (3,1)

7. Functional Decomposition

8. System Block Diagram

9. Design Ideas Outline Frame materials Actuation Spring Axle Sensors Batteries

10. Design Ideas, cont. Data storage devices uProcs + ADC o motor control o data acquisition

11. Frame materials Metals Aluminum Steel Composite Materials Fiberglass Carbon Fiber Frame Plate Truss structure

12. CAD Drawings

14. CAD drawings

15. Possible Invitees to SDR Dr. Gomes Mr. Edward Hanzlik Mr. Leslie Moore Dr. Slack Dr. Sahin?

16. Proposed Agenda

17. Questions/Comments?