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Rimless Wheel Project Update

Rimless Wheel Project Update. Week 4. 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. Customer Needs. Periodic motion Walk at least 25 steps

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Rimless Wheel Project Update

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  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 • Periodic motion • Walk at least 25 steps • Endure several trials on one charge • Be portable • 0.05 - 0.1 Cost of Transport (CoT)

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

  5. Specifications

  6. Risk Management

  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 • motor control • data acquisition

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

  12. CAD Drawings

  13. 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?

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