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MATV Memorial University All Terrain Vehicle

MATV Memorial University All Terrain Vehicle. Team members Jonathan Cole Trevor Dwyer Fabio Faragalli. Project Overview. Design an autonomous amphibious vehicle able to navigate rough terrain Allow for the attachment of components for navigation, automation, and various future endeavors

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MATV Memorial University All Terrain Vehicle

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  1. MATVMemorial UniversityAll Terrain Vehicle Team members Jonathan Cole Trevor Dwyer Fabio Faragalli

  2. Project Overview Design an autonomous amphibious vehicle able to navigate rough terrain Allow for the attachment of components for navigation, automation, and various future endeavors Improve upon the design of existing competitors vehicles that have inherent design weaknesses

  3. Project Deliverables • Design and fabrication of one complete hydraulically powered wheel assembly • Design and fabricate a closed hydraulic system to support driven wheels • Design and fabricate robust offroad suspension for vehicle • Design and fabricate amphibious platform to support vehicle automation equipment and payload

  4. Design Specifications 6 wheel vehicle/platform Hydraulically driven Amphibious Must have enough torque to climb a vertical wall 50 lbs pay load Less than 48” wide 12-14” ground clearance Weight less than 300 lbs At least 2 cubic feet cargo space 24 hour autonomy Attains speed up to 30 km/hr

  5. Hydraulic System Motor, Pump & Engine Sizing Example Specifications: • Powered by 6 hydraulic wheel motors • One pump per side, powering 3 hydraulic wheel motors each - in series • Gas powered internal combustion engine, governed at 3600rpm used to run pumps • Employs a closed loop, bi-directional hydraulic transmission (reversible pumps)

  6. System Diagram Tank Radiator Filter Q Hydraulic Motors Relief Valve Engine Check Valves Check Valves Reversible Pump

  7. Sizing Assumptions • 2 front wheels have enough torque to lift ½ the weight up a vertical wall • 3000psi operating pressure • Hydraulic motors in series – equal pressure drop • MATV Weight 300lbs • Wheel diameter 0.3m • Efficiencies all assumed η = 0.9 • Max speed 30 km/h • Engine governed at 3600rpm

  8. Required Wheel Torque • 1 wheel schematic • Use ½ weight • Fg = (300lbs)(1/2 weight)(1kg/2.2lbs)(9.81m/s^2) • Fr = (Fg)(Sin30 °) • Tr = (Fr)(0.3m) • Tr = 50.2 N·m D = 0.3m Fr Fg 30°

  9. Sizing Motor Displacement 1000psi (per motor) • Tr = (Dm)(P)(ηmm) • Dm = (50.2 N·m) / (6.89x10^6 N/m^2)(0.9) • Dm = 8.1x10^-6 m^3/rad • Dm = 3.1 in^3/rev

  10. Sizing Motor Flowrate • Vmax = (30km/h)(1000m/km)(1h/3600s) • V = (ωm)(π)(0.3m) • ωm = 8.84 rev/s • Qm = (ωm)(Dp) / (ηvm) • Qm = 4.9x10^-4 m^3/s • Qm = 29.5 L/min

  11. Sizing Pump Displacement • Qp = Qm (Series) – Pump flowrate • Qp = (ωp)(Dp) / (ηvp) • Dp = (4.9x10-4 m^3/s) / (3600 rev/min)(1min/60sec)(0.9) • Dp = 9.1x10^-6 m^3/rev • Dp = 9.1 cm^3/rev • Dp = 0.55 in^3/rev

  12. Pump type 3070 Nominal Delivery: 32 L/min (29.5 L/min Required) Displacement: 21.33 cm3/ rev (9.1 cm3/ rev Required) Maximum Continuous Pressure 3000 Psi Speed at Maximum Continuous Pressure 3000 rpm Hydraulic pump specifications

  13. Engine Sizing • Rolling Resistance • Assume 10% of operating pressure (300psi) • Tp = (9.1x10^-6 m^3/rev)(1 rev/2π rad)(2.068x10^6 N/m^3) / (0.9) • Tp = 3.33 N·m • Engine Power • Power = (Tp)(3600 rev/min)(1min/60sec)(2π rad/1 rev) • Power = 1255W • Power = 1.7 HP • Engine runs 2 pumps • Power = 3.4 HP 300psi Dp

  14. Selected Engine Specifications Air-cooled, 4-Stroke, OHV, single cylinder Displacement: 163 cm3 (9.9 cu in) Net horse power output: 3.6kW (4.8HP) at 3,600 rpm Net torque:10.3 Nm (7.6 lbs ft) at 2,500 rpm

  15. Selected Engine Specifications Starting system: Electric Starter Oil Capacity: 0.6 liter (0.63 US qt) Dry weight: 13.0 kg (28.7 lbs) Dimensions: 12.0 in x 13.4 in x 12.5 in Fuel tank capacity: 3.1 liter (3.3 US qt) Requires 1.26 Qt/h fuel

  16. Required Fuel Reserves • Engine requires 1.26 Qt/h • 24h Automation • R = (24h)(1.26 Qt/h)(0.946352 L/Qt) • R = 28.6 L • Design for 32 L (10% reserve) • Modified tank required

  17. Suspension • Double A-arm suspension chosen • Upper a-arm shock mount chosen • More clearance for hydraulic motors • Allows for maximum suspension travel and ground clearance in offroad environments

  18. Existing Competition Frontline Robotics Foster Miller

  19. Gantt Chart

  20. Questions!!!

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