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MARSUPIAL Preliminary Detailed Design Review

MARSUPIAL Preliminary Detailed Design Review. Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA 15201. Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice. Agenda. Introduction Detailed Design Tracks Wireless Node Payload Wireless Node Deployment System

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MARSUPIAL Preliminary Detailed Design Review

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  1. MARSUPIAL Preliminary Detailed Design Review Carnegie Robotics LLC.#10 40th StreetPittsburgh, PA 15201 Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice

  2. Agenda • Introduction • Detailed Design • Tracks • Wireless Node Payload • Wireless Node Deployment System • Electrical Systems • Questions

  3. Introduction • MARSUPIAL Tracked Rover for CRL • Scope • Suspended Track System • Wireless Node Payload • Electrical Systems • Odometry • Deliverables • Suspended Track System • Mesh Network Payload

  4. Tracked Suspension System • Suspension • Rugged against impact shock • Various environmental areas • Climb obstacles • Self Contained • IP Rated seals • Drive-Train • Off the shelf motors • Meet speed and torque requirements • Simple gearing • Integrated electronics • Odometry • Tracks • Proper materials • Coef of friction • Material stretch • Outdoor resistant • Chemical and physical ruggedness • Ease to install and remove

  5. Tracked Suspension System • Drive-Train • Required Speed • Min of 5mph on level ground • Require Torque • To move 150 lbs of robot and payload • Off the Shelf Motor • Reduce overall price • Realistic Gear Train • 8.0:1 – 12.0:1 • Planetary

  6. Tracked Suspension System

  7. Wireless Node Payload • Droppable Node • OLinuXino – 575 MHz ARM Core • Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol • USB Wi/Fi adapter • Buck converter • Li-on battery providing upwards of 6 hours of runtime • Deployment System • Still in development

  8. Wireless Node Deployment System

  9. Power Management Systems

  10. Questions

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