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SPLAT S mall robotic P latforms for L imited A ccess T errain

SPLAT S mall robotic P latforms for L imited A ccess T errain. Project Sponsor: Eglin Air Force Base Munitions Directorate Air Force Research Laboratory Contact: Mr. Jeffrey Wagener. Team # 5: Jeffrey Dalisay Michael Genovese Ivan Lopez Ryan Whitney. SPLAT Team. Team Building Activity

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SPLAT S mall robotic P latforms for L imited A ccess T errain

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  1. SPLATSmall robotic Platforms for Limited Access Terrain Project Sponsor: Eglin Air Force BaseMunitions Directorate Air Force Research Laboratory Contact: Mr. Jeffrey Wagener Team # 5: Jeffrey Dalisay Michael Genovese Ivan Lopez Ryan Whitney

  2. SPLAT Team • Team Building Activity • Golf • Code of Conduct • Meetings/Attendance • Decision Making Process • Contacting sponsor • Team Procedures • File Sharing • Task Completion

  3. Statement of Need/Problem Definition • In order to collect accurate and sufficient intelligence, there is a need for small platforms (<6”) that can maneuver on both horizontal and vertical surfaces. • Design subsystems that would give a small robotic platform the capability to transition from horizontal to vertical surfaces.

  4. Objectives • Design and fabricate vertical wall crawler concepts for a small robotic platform • Optimize subsystems for performance, size, and weight, by addressing material selection • Evaluate chosen concept on three common industrial wall surfaces • Furnish report detailing test results with the chosen design outcome

  5. Specifications • The platform must be able to remain on a vertical surface for 30 minutes. • Platform must be able to translate vertically a minimum of 5ft. • Final design should be confined to a box no bigger than 6”x 6”x 6”. • Platform can be controlled digitally or by radio control.

  6. Background Research The components of the robot such as three DC servo motors, two suction pump motors, two micro valves, pressure sensors, touch sensors and limit switches are controlled by single chip LF2407 DSP. http://www.egr.msu.edu/ralab/proj05.htm

  7. Design Idea Generation/Necessary Components Ideas Necessary Components • Electromagnetic Robot • Cart with adhesive tracks • Cart that secretes adhesive fluid • Drilling Robot • Cart with blower/turbine • Suction Robot • Suction Car • Motion • Wheels • Legs • Adhesion • Not all surfaces are magnetic • Adhesive substance or fluid will get dirty • Wall damage could cause surface failure • Control • Radio • Digital

  8. Cart w/ Blower Thrust from the blower will force the cart against the wall, and the wheel in front will help the transition between the floor and wall.

  9. Robot w/ Suction Transition from ground to wall will use three axes of rotation (one for each suction cup and one in the middle).

  10. Suction Car

  11. Design Matrix 6.65 • Weighting factors were determined based on the needs specified by the customer • Scores were determined by a general consensus of all group members • Blower seemed to be the “best” overall design based on the total ranking.

  12. Necessary Componentsfor Blower Design Movement • Motors (2) • Wheels • Tracks Blower Concept • Impeller/Propeller • Stronger motor • Duct Radio Control (RC) • Radio • Receiver

  13. Movement Electric motor Higher Torque Weights range from 3 to 7 oz Gearing may be necessary to reduce speed and increase Torque Wheels Foam/Plastic to minimize weight Couple with a track Three on each side Plastic axles

  14. Blower Concepts Ducted Fan Propeller Air Turbine • Thrust is a function of: • Rpm • Horsepower • Diameter • Number of Blades • Pitch • Driven by Brushless Motor: • High efficiency (~90%) • Weights range from 2 to 5 oz • Speeds up to 30,000 RPM

  15. Radio Control 5/6 Channel Transmitter • 1 channel for each motor (3) • Extra channels for possibility of added components Receiver • 1 port for each channel • Connects transmitter to motor Speed Controls • 1 for each motor

  16. Preliminary Calculations q

  17. Obtaining Parts • Made trip to Hobbytown USA • Jeff Radkins (owner) called to get information on types of fans he could obtain • Looked at: • Radios • Motors • Discussed ways of controlling our cart in the tank configuration: • Dual joysticks • Single joystick utilizing elevon mixing

  18. Fan • Wattage PowerFan 400/6 EDF Unit w/ 400f Motor • Specs • At 10V 9A, Thrust = 9.5oz, RPM = 20700 • Total weight = 4.13oz • Outer diameter = 3.1in • Problems obtaining the fan: • Hobbytown USA does not carry ducted fans in stock • Can’t purchase online because of the use of purchase orders • No other hobby shop in town, had to wait for Hobbytown USA to order one in and had to pay extra for it • Original price ~$35.00, price we paid $43.74

  19. Radio • Hitec Laser 6 • 6 channel 72MHz FM transmitter • Elevon and V-tail mixing • $134.99 • Also included: • Supreme 8 channel receiver • 4 HS-325 servos • Switch Harness • Full NiCad system with charger

  20. Speed Controls • Need one to test ducted fan • Will need two more for the driving motors • Must be “large” enough to carry the current put through it so it does not “blow up” • 30 amp speed control • $39.99

  21. Body • Initial design • Rough dimensions • Base: 5”x5” • Overall: 6”x5.86” • Dimensions will be finalized with final components • Subject to change • Fiberglass will be used initially in hope Carbon Fiber will be final material

  22. Fiberglass Resin Polyester Cheap Relatively Strong ~$10/Quart Epoxy Higher Strength Bonds to Metal ~$20/ Quart Fiber Mat Resin distributes by itself Unorganized fibers ~$2.50/yard (1yd by 38”) Cloth Patterned (squares) Must work resin in more thoroughly Isotropic Properties ~$5/yard

  23. Creating the Body Forming the Mold • Foam or cardboard cutouts • Line with plastic/aluminum foil for easy extraction • Foam: $16.50 for 2 ft3 of the 2lb density • Lay fiber over mold • May require more than one layer • Spread resin with brush • Drying times vary Forming the Body

  24. Fiberglass Practice • SAE Club had some fiberglass • Showed me briefly how it works • Cloth • 3:1 Epoxy • Formed over a piece of Aluminum • Used 1 layer • Will need more than 1 for the body

  25. Testing • Use angled surfaces to work our way up to vertical • Once vertical, can add weight to determine the maximum weight allowable • Can test the thrust of the fan itself by one of the types shown • Jeff Wagener has Type 3 setup at Eglin already

  26. Testing • Power Consumption • Battery sizes • Battery life • Predict thrust and power needed for other weights • Predict which components will be necessary for final design

  27. Acknowledgments • Mr. Jeffrey Wagener and Dr. Joel House: Contact/Sponsor at Eglin Air Force Base • Jeff Radkins: Owner of Hobbytown USA • Jon Cloos: Purchase Orders • Dr. Luongo • SAE Club for fiberglass help

  28. Questions

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