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The Air Jellyfish

The Air Jellyfish. Group # 1: Jacob Chard Ben Sponagle Chris Theriault Shane Yates Supervisor : Dr . Marek Kujath. Outline. Introduction Inspiration Objectives Fall Term Testing and Calculations The Design Alterations Fabrication Budget Testing and Evaluation

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The Air Jellyfish

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  1. The Air Jellyfish Group #1: Jacob Chard Ben Sponagle Chris Theriault Shane Yates Supervisor: Dr. MarekKujath

  2. Outline • Introduction • Inspiration • Objectives • Fall Term Testing and Calculations • The Design • Alterations • Fabrication • Budget • Testing and Evaluation • Conclusions and Recommendations

  3. The Inspiration: FestoAirJelly Source: www.festo.com • Remote-controlled airborne jellyfish • Central electric drive moves tentacles • Horizontal motion controlled by centre-of-mass-shifting pendulum

  4. Objectives • Mimic appearance of a jellyfish • Achieve flight • Create effective advertising medium

  5. Fall Term Testing • Mock up Model • Double Pulley Mechanism vs. Pulley/Spring Mechanism • Flexible Legs vs. Hinged Paddles • Oscillation Frequency • Calculations • Torque Requirement • Drag Forces • Lift

  6. Calculations: Drag Forces Drag Forces were found to be small

  7. Torque Requirement HG312 Geared Motor 312:1 www.robotmarketplace.com Calculated to be 5.82 Nm Motor selected based on torque requirement

  8. Lift 2.1m diameter balloon produces 5kg Lift

  9. The Design • Frame • Vertical Propulsion Mechanism • Balloon • Motor/Crank • Steering Mechanism • Wireless Control • Circuitry

  10. The Frame Rapid-Prototyped Joints Rapid-Prototyped Hinges Carbon Fibre Tubes Rapid-Prototyped Motor Platform Aluminum Tubes

  11. Vertical Propulsion Mechanism • Flexible flappers • -Vinyl Beams • -Foam Board Paddles • Upward thrust throughout stroke

  12. Transmission

  13. Balloon • Weather Balloon • Helium Used for Lift • Net/Ring Support

  14. Steering Mechanism • Dual Propellers • Provide linear horizontal movement and turning capability

  15. Wireless Control • FM transmitter and receiver • Servo motors activate on/off switches • Dedicated power supply

  16. Primary Power Supply • Lithium-Polymer battery pack • 3 cells (3.7 V each) • 2600 mAh capacity • Provideample power for >30 min of operation

  17. Alterations

  18. Fabrication • Joints, hinges, and base of motor platform were rapid-prototyped • Frame assembled with press-fitting • Motor hub machined by Albert • Motor stand made of balsa; attached to base with epoxy • Sewn balloon attachment ring

  19. Budget

  20. Testing • Three tests conducted in Sexton Gym • Number of tests limited by cost of helium (~$100 to fill balloon)

  21. Test 1: March 27 • Insufficient helium to achieve flight • Verified all mechanical systems • Propellers moved device forward and provided turning capability • Crank mechanism drove flappers with appropriate range of motion • Learned lessons concerning device assembly

  22. Test 2: April 1 (It flew!) • Achieved controllable flight • Operated for over 30 minutes • Reached height of 8 m • Controlled from 28 m distance • Lessons learned • Difficult to determine orientation of device from distance • Helium leakage might limit run time

  23. Test 2: April 1 (It flew!)

  24. Test 2: April 1 (It flew!)

  25. Test 3: April 6 • Added advertisements and orientation indicators • Balloon ruptured during assembly

  26. Design Requirements

  27. Design Requirements

  28. Conclusions Positives • Overall success • Most requirements met Negatives • Reliability issues • Fragility of balloon • Time and effort for assembly • Cost of helium

  29. Recommendations • Balloon reliability enhancement • Use a more rigid balloon • Contain balloon in protective envelope • More advanced control system • Height and obstacle detection • Motor speed controllers • Organic steering mechanism

  30. Acknowledgements Sponsors • Shell Canada • Welaptega Marine • Air Liquide Individuals • Dr. MarekKujath • Albert et al. • Dr. Julio Militzer • Peter Jones • Craig Arthur

  31. Questions?

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