ME 265 Project.docx - Google Docs

8/17/2019 ME 265 Project.docx - Google Docs

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ME 265 Project

Robotic Vacuum Cleaner

Contents

1 . I n tr o du c ti o n

2 . L i te r at u re Re v ie w

3 . D es ig n P ha se

4 . A s se m bl y P h a se

5 . F E A A n a ly s is

6 . A ni ma ti on

7 . M o ti o n A n al y si s

8 . 2 D Or t ho g ra p h ic V ie w s

9 . D is cu ss io n

1 0 . F u t u r e S c o p e

1 1 . R e f e r e n c e s

1 2 . A p p e n d i c e s

Abstract

M od e rn d ay t as ks a re p e rf or me d b y h u ma n s a s w el l a s r ob o ts . R ob o ts a lw ay s r ed u ce t he “ ma n

t i me ” t h at i s r e q u ir e d t o p e rf o rm a t a sk b y h u ma n o p e r a to r s m a n u al l y. I n t h e p a st d e c ad e w e h a d

v a cu um c le a ne rs w hi ch a re r ea ll y h el pf ul t o c le a n o ur h o me s a nd k e ep t he m t id y . T h e p re se nt

e ra i s a m ix tu re o f m an , m a ch in e a n d i nt el li ge nc e , w hi ch i s a k ey a sp e ct f or c re at in g r o b ot s.


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R ob ot ic V ac uu m C le an er s c an b e u se d f or h om e a pp li ca ti on s l ik e c le an in g t he f lo or , d us t

disposal and automatic time & pattern setting for efficient cleaning.

A R ob ot ic V ac uu m C le an er i s d es ig ne d a na ly ze d i n t hi s p ro je ct . T he g oa l o f t hi s p ro je ct i s

present a design which is robust enough to handle the daily cleaning tasks and which is low cost

a r ou n d $ 2 0 0. S o me o f t h e c o m m e rc i al l y a v a i la b le v a c uu m c l ea n e rs a r e v e r y c o st l y a s c o m pa r ed

t o t he p re se n te d i n t hi s p a pe r. A ls o c le an in g o f i nt er na l c o mp o ne n ts o f v a cu u m c le an e r i s v e ry

d i ff i cu l t a s i t r e qu i re a t e ch n ic i an t o r e mo v e a n d a s se m b le . T h is d e si g n p r ov i de d a n a l te r na t iv e

s ol ut io n t ha t d ra wb ac k . B uy e rs c an n ow o p en a nd c le an t he i nt er na l p ar ts o f t he r ob ot a s t he y

are easy to remove and assemble back again.

1 . I nt r od u ct i on

1.1. Background:

I n t h e m o de r n w o rl d h u ma n s a r e b e c om i ng m o re d e p en d e nt o n a p p li a nc e s a n d g a d g e ts . A m o n g

t he h o me a p pl ia nc e s V a cu um C le an e r i s b e co mi ng a n ec e ss it y e v er y d a y. T h er e a re p le nt y o f

brands which are available commercially in the market ranging from $60 to $6000 dollars. The

l at es t t re n d i n v ac u um c le an e r i nd u st ry i s “ R ob ot ic V ac u um C le a ne r” . A v a cu um c le an er i s a

d e v ic e t h at u s es c e n tr i fu g al f o rc e t o c r ea t e p a r t ia l v a c u u m t o s u ck u p t h e d u s t a n d d i rt . D i f f er e nt

attachments can be fixed to the robot to clean the debris in different locations.

1 . 2 . N e e d:


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R ob o ti c V ac u um c le an er s w il l r ed uc e t he w or k f or h u ma ns t o o pe ra te t he m ac h in e m an ua ll y

t h ro u g ho u t t h e c l ea n in g p r oc e ss . A u to m at i on i s m a ki n g t h e m a c h i ne s s m ar t er t h an b e fo r e a n d

g iv in g t he m t he p ow e r t o t hi nk f or t he u se r. T hi s m ak e t he m ac hi ne n o t o n ly s ma rt er b ut b e tt er

f o r o p e ra t io n , b e ca u se i t p r ed i ct s t h e p a tt e rn o f o u r l i k e s a n d d i sl i ke s . R o b o ti c V a cu u m c l e a n er s

a r e n o w e q ui p pe d w i th c a m er a s, s e ns o rs a n d a c tu a to r s. C a me r as w i ll p r ov i de t h e v i si o n f o r t h e

r ob ot t o s ee w he re i t i s m ov in g i n t he r oo m w h il e s e n so rs w il l a c t a s l ik e b r a ke s w h e n t h e r o b ot

i s n ea r t o h it s om et hi ng i n t he r oo m. A ct ua to rs a re n ec e ss ar y t o m ov e t he r ob o t f ro m o n e p o in t

t o t he o th er. T he se R ob oti c V ac uu m c le an ers w ill t ra ns fo rm o ur b usy l iv es in to m or e

c o m f o r t a b l e b y c l e a n i n g o u r h o m e s a u t o m a t i c a l l y . T h e u s e r c a n s e t u p t i m e , p a t t e r n a n d m o d e t o

t el l t he d ev ic e w he n t o t ur n o n, h ow t o c le an t he f lo or o r c a rp et a nd h ow m uc h p r es su re i t h a ve

to use on each surface.

1.3. Application:

R ob o ti c V a cu um c le a ne rs a re u se fu l f or d om es ti c a pp li ca ti on s m os tl y. T h ey a re s ma ll a nd

e f fi c ie n t t o c l ea n a h o me i n 1 h o u r. T h ey c a n s i t b a c k i n t o t h e c h ar g in g p o r t a u t o ma t ic a ll y w h e n

t h e c h a rg e f a ll s b e lo w a p a rt i cu l ar v o lt a ge l e ve l . T h ey c a n a l so b e u s ed i n o f fi c e s p ac e s, s c h o ol

buildings, garages and hospitals to clean the dirt and other waste material that have been

disposed frequently.

A d et ai le d v ie w o f t he d es ig n a n d p ar ts w il l b e p re se nt ed i n s ec ti on 3 & 4 . F E A a n a ly si s o f t h e

d e si gn w il l b e p re se n te d i n s ec ti on 5 . S ec ti on 6 a nd 7 w il l d is cu ss a b ou t t he a n im at io n a n d t he

m o ti o n a n a ly s is p r op e rt i es o f t h e d e si g n. S e ct i on 8 , 9 a n d 1 0 w i ll c o ns i st s o f d e ta i le d d r a w in g s,


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O rt ho g ra p hi c p ro je ct io ns o f a ss em bl y a n d d is cu ss io n a bo u t t he p ro je c t. F ut ur e s co p e o f t he

project is presented in Section 11. References will be provided in section 12.

2 . L i t er a t ur e R e vi e w

2.1 Existing Designs

T he t re nd o f R ob ot ic V ac uu m c le a ne rs s ta rt ed b a ck i n l at e 9 0 ’ s. O ne o f t h e f am ou s d e s ig n i n

t hi s f ie ld w as “ IR ob ot R oo mb a V ac uu m C le an er ” t ha t w as d es ig ne d a nd d ev el op ed b y a

c o mp an y c al le d I Ro b ot . T he re a re p le nt y o f f la ws i n t hi s d es ig n . O ne o f t he c o mm on d es ig n

f la ws i n t hi s r ob o ti c v a cu u m c le a ne r i s t he c lo g gi ng o f t he v a cu u m c h a mb e rs w it h t im e. A ls o

t he b ru sh e s p ro v id e d w it h t hi s r ob o t a r e n ot e ff ic ie n t e n o ug h t o p ic k u p t he d u st p ar ti cl es i n


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s in g le r un . T he r ob ot h a ve t o m ov e a ro un d t he s am e p la c e a ga in a nd a g ai n f or s ev er al t i m es t o

pick the debris.

I Ro bo t R oo mb a i s o ne o f t he f ir st e ve r s uc ce ss fu l d es ig ns t ha t a re c ur re n tl y a v ai la b le i n t he

m ar ke t. Y et t hi s d e si gn d o n o t h av e v is io n s en so rs t o d et ec t t he d y na mi c m ov em en ts o f t he

o b st ac le s l ik e p e ts o r k id s, e sp ec ia ll y i n i nd oo r e nv ir on me nt . T hi s m ad e t he r ob ot t o h it t he

obstacles and also wrong decision making near the obstacles.

Figure 2.1 IRobot Roomba vacuum cleaner robot

L G r el ea se d i ts L RV 59 00 H OM -B OT w hi ch i s t he n e xt l ev e l c om pe te nt f or R o om ba M od e l.

T h is m o de l i s c a p ab l e o f a u to m a ti c c h ar g in g . I t c o n s is t o f a v i si o n s y s te m . A l t ho u g h t h i s m o d el

i s c a pa b le t o d o t as ks b e tt er t ha n R o om ba C le a ne r, i t i s c os tl y. T he o th er d is ad va n ta g e o f t hi s

m od e l i s t ha t i t o pe ra te s o n 1 6. 8 V m ot or w hi ch i s q ui te h e av y f or d om es ti c a pp li ca ti on s. A s i t

n e ed s m or e p ow er t o r un t hi s r ob o t, i t w as d ra in in g q u ic k ly t ha n t he e x pe ct ed t im e. T hi s m o d el

is discontinued by LG recently.


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T he a b ov e i nd ic at ed m od el s h av e a c o mm on f la w o f p ic k in g d u st p ar ti cl es a s w el l t h e q u an ti ty

t h e y c a n s t o r e t h e d u s t . T h e y w e r e d e s i g n e d a s t h i n a n d s l e e k m o d e l s . T h i s l i m i t e d t h e s p a c e t h a t

is required to collect the dust.

2.2 New Design & Modifications

I n t hi s p ro je ct a R ob o ti c V ac uu m C le an e r w as d e ve lo pe d w hi ch i s c a pa bl e o f p ic ki ng l ar ge

particles. This design consist of large bin to accommodate to collect more dust. The cyclone

c on es a re u se d t o f il te r t he m ic ro p ar ti cl es t ha t t ry t o e sc ap e t he b in t o e xh au st s ys te m. T hi s

d e si gn i s e ff ic ie nt i n p ic ki ng a n y k in d o f m at er ia l. I t c on si st s o f s en so rs w h ic h w il l m ak e i t

s ma rt er to se nse t he ty pe o f fl oo r o n w hic h i t i s o pe ra tin g. T he u se r c an s et up th e m od es

d e pe nd in g o n t he t yp e o f c le an in g t he y w ou ld l ik e t o p er fo rm . V is io n s ys te m i s a k ey t o d e te ct

t h e c h a ng e s t h at a r e h a p pe n in g a r ou n d t h e r o bo t . F o r e x a m p le p e ts m i g h t b e m o vi n g a r o u nd t h e


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h om e w he n t he r ob ot i s c le an in g. A dd in g a v is io n s ys te m w il l m ak e t he r ob ot t o s e e w h at i s

happening around it and also to control the motion of the robot depending on the obstacles.

3 . D es i gn P h as e

In the design phase each and every component required for the robot was designed in steps, one

after the other. These individual components are designed talking all the design related and

space considerations. PTC Creo has been used for this project to design the robot.

3.1 Robot Cover

T hi s is th e m ai n c ov er o f th e ro bo t. It c on ta in s m ost o f t he a ll ow an ce s a nd g ap s fo r th e

e le c tr on ic c ir cu it s a nd p o we r s ys te ms . T he b ac k si de o f t he r ob o t c o ns is ts o f a n ot he r c o ve r

which is actually a vent for the exhaust filter of the vacuum cleaner.

3.2 Brushless Motor

M ot or i s t he m os t e ss en ti al p ar t o f t hi s r ob ot . T he re a re o th er m ot or s w hi ch a re u se d f or t he

d ri vi ng t he r ob ot . T h is i s t he m ai n m ot or o f t he v ac u um c le a ne r. I t c o ns is t o f a n i mp e ll er a nd a

h o us in g. T hi s m ot or w il l t ur n t he i mp el le r t o c re at e t he n eg a ti ve t hr us t. N eg a ti ve t hr us t w il l


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c r ea t e t h e l o w p r es s ur e a r ea n e a r t h e v a c uu m c l ea n e r a t t ac h me n ts . T h is f o rc e w i ll h e lp t h e r o b o t

to suck the dust into the vacuum cleaner.

3.3 Impeller

The impeller is a part of propelling unit. Impeller is a circular disk with blades arranged radially

on the disk. When the shaft of the motor is paired with the impeller the rotational force will

create the negative thrust. This thrust is diverted with the help of ducts inside the robot.

3.4 Dust Collector

D us t c o ll ec to r i s t he u n it a tt ac he s t o t he h o se s f ro m t he i mp el le r u n i t a n d e x h au st u n it . I t i s a

c h a mb e r w h e re a l l t h e d u s t p a rt i cl e s s e t tl e d o wn a n d p u r i fi e d a i r w i ll e x ha u st f r om t h e c h a m b er .

I t a c co mm od at es v a ri ou s f il te rs , c y cl on e c on es , p la te s, a tt ac h me nt s a n d o n e c e nt ra l o ut le t

cylinder to let the exhaust air leave the chamber.

3.5 Cyclone Cones

C y c lo n e c o ne s a r e u s ed i n t h e r o bo t d u s t c o ll e ct o r t o f i lt e r t h e d u s t p a rt i cl e s a s w e ll s a s t o c r e a te

a c y c lo n ic v o rt e xe s i n o r de r t o d r op t h e h e a v y p a rt i cl e s w h e n t h ey t r av e l u p w a rd s . G r a v it a ti o na l

f or ce a c ts o n t he h e av y d u st p a rt ic le s t o s et tl e d ow n f ro m t he c o ne s w he n t h e y t ra v el t o t h e t o p

part of the cones. This part is located on the top of the dust collector. Also this cone chamber

h a ve i nl et a nd o ut le t. I nl et i s l oc a te d n e ar t he m ic ro f il te r. O ut le t i s l oc a te d o n t he t op w hi ch i s

connected to the exhaust hoses and filter.

3.6 Cones Holding Plates


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T h e re s h ou l d b e s o me a r ra n g em e nt i n si d e t h e d u st c o ll e ct o r t o h o l d t h e c o n e s i n p l a c e s u c h t h a t

t he e x ha u st a ir w il l e sc ap e a n d p a ss t hr ou gh t he i nl et o f t he c on es a ft er t he f il te r. T h es e p la te s

h av e h ol es w hi ch m at ch t o t he f ru st um o f t he c on e a t a p ar ti cu la r h ei gh t. A s ma ll e xt ru si on

inside the dust collecting cylinder will hold the cyclone cones in place.

3.7 Micro Filter

M ic ro f il te r i s l oc at ed j us t b e lo w t he i nl et o f t he c on e s. T he re i s a n ot he r p la te b e lo w t he m ic ro

f i lt e r i n o r de r t o k e ep t h e f i l te r i n p l ac e . T h i s p l a t e h a v e l a r g e h o l e s t o a c c om m od a te t h e a i r f l ow

i n to t h e m i cr o f i lt e r. M i cr o f i lt e r h a v e t i n y h o l e s w h i c h c a r e r e s p on s ib l e t o f i lt e r t h e a i r b e fo r e i t

e n te rs i nt o t he i nl et o f t he c yc lo ne c o ne s. T h is i s g en e ra ll y m ad e w it h f oa m w hi ch i s w a sh a bl e

and can be replaced when it’s too cloggy or filled with large debris.

3.8 Central Outlet Cylinder

C e n tr a l o u tl e t c y l in d e r i s l i ke a c e nt r al r o d w i t h a l a rg e h o le i n t h e m i dd l e p a r t o f c y li n de r . I t c a n

be accommodated with Macro filter and a plate with fasteners. Using the fasteners this cylinder

i s c o nn e ct ed t o t he p la te t ha t i s l oc at ed a bo v e t h e c y li nd e r. T he p la te c o ns is ts o f a h o le w hi ch

m at ch es t o t he c en tr al h ol e o f t he c yl in de r s uc h t ha t t he a ir f ro m t he c en tr al p ar t f r om t he

c y li nd e r w il l e xi t f ro m t he t op o f t he p la te a n d t ra ve l d o wn wa rd s a g ai n t o c r ea te a v or te x a i r

chambers. This will make the macro particles to drop down from the side holes.

3.9 Macro Filter


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M ac ro f il te r i s l oc at ed o n t he c e nt ra l o ut le t c yl in d er . M ac ro f il te r w il l b e h el pf ul t o t ra p t he

m ed iu m t o h e av y p a rt ic le s i n t he f il te r. A ls o i t h el ps t he m in u te p ar ti cl es t o t r a p d o wn i n t h e

f i lt e r w h en t h ey a r e r e t u rn i ng f r om t h e m i c r o f i lt e r v o r t ex c h am b e rs . M o st o f t h e h e av y p a rt i cl e s

will be settled down on the bottom part of the dust collecting cylinder.

3.10 Motor Housing

M ot or H ou si ng i s a n e ss en ti al p a rt o f t he v a cu um c le an e r. I t i s u se fu l i n p re ve n ti ng t he d us t t o

g e t i ns id e t he m ot or w h il e t he i mp el le r i s r un ni ng . T he h o us in g a cc o mm od at ed m ot or s ea li ng

a n d v e ry t h in s p ac e t o c r ea t e t h e v a cu u m n e c e ss a ry t o s u c k t h e d e b r is . I t a l so c o ns i st o f t h e s h af t

a tt ac hm en t a nd m ot or m ou nt a tt ac h me nt i ns id e i t. T wo e nd s o f t he h o us in g w il l f or m o ne i nl et

and outlet ways to attach the hoses.

3.11 Vacuum Cleaner Attachment

A tt ac hm en ts a re a tt ac h ed n ea t t he b o tt om p a rt o f t he r ob o t. T hi s a t t ac hm en ts c an b e a h o se o r a

brush depending upon the type of cleaning mode. It can be easily removed and fitted back into

t he p la c e. T ig ht f it e na b le s i t t o h o ld i n t he p la ce . T he se a tt ac hm en ts a re t he e n d- pa rt s w h e re

they start to collect the dust particles.

3.12 Wheels

T hi s s ys te m c o ns is t o f t wo i nd iv id ua l m ot or o n e it he r s id e o f t he r ob o t. E ac h m ot or i s a t ta c he d

t o a m ai n w he el . T he w he el s a re b ig e no ug h t o c ar ry t he w ho le l oa d o f t he r ob ot a nd a ls o t o

c li mb a n y t in y o bs ta c le s. T h e r ob ot d ir ec ti on c a n b e c ha n ge d b y s pi nn in g t he t wo m ot or s i n

opporite direction.


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3.13 Bottom Cover

T h is i s t h e b o tt o m p a r t o f t h e r o b o t w h e re t h e b r u s h a n d d r iv e tr a in m o to r s w i l l b e a t ta c h in g . T h e

c ov er h as t o b e d es ig ne d i n s uc h a w ay t ha t i t s ho ul d m at ch t he d im en si on s o f t he t op c ov er ,

radially. Part of the cyclone cone chamber will be attached to the bottom plate.

3.14 Electronics Bay

T h is u n it i s u s e f ul i n a c c om m od a ti n g a l l t h e e l e c tr o ni c s r e l a te t o t h e r o b o t. T h er e w i ll b e e n ou g h

s pa ce t o a cc o mm od a te t he b a tt er y f or t he r ob ot . T hi s s pa ce c a n a l s o b e u se d t o a cc o mm od at e

a n y o t h e r m i c r o p r o c e s s i n g u n i t s t h a t a r e n e c e s s a r y t o r u n t h e v a c u u m c l e a n e r a s w e l l a s t a k e t h e

i n pu t s f r om t h e s e ns o rs . I t i s a c c o m mo d at e d a t t h e t o p p a rt o f t h e r o bo t j u s t b e l o w t h e s u rf a ce o f

t he c am er a. T he c am er a w ir es a nd e le ct ro ni c c om po ne nt s c an b e d ir ec tl y a tt ac he d t o t he

m i cr o pr o ce s so r f r om t h e t o p. T h is w i ll h e lp t h e r o b o t t o l o ok c l ea n a n d w i l l a c c o m mo d at e s p ac e

for further improvements.

4 . A s s em b ly P h as e

D ur in g t hi s p ha se o f t he p ro je c t t h e i ni ti al s te p i s t o a ss em bl e t he s ub u ni ts o f t he r ob ot . O nc e

t he s ub u ni ts a re a ss em bl ed , l at er s te p i s t o a ss em bl e t he w ho le r ob ot . T op -D ow n a ss em bl y

method is followed during the assembly phase.

4.1 Motor Unit Assembly


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M ot or u ni t su b a ss em bl y i s c on si st o f th e Mo to r, Mo to r Mo un t, H ou si ng , Im pe ll er,

I mp el le r- Mo to r s ha ft . T he s ha ft f ro m t he m ot or i s a tt ac he d t o t he i mp el le r v ia a no th er

i n te r me d ia t e s h af t . T h is i s n e c e s sa r y t o p r ev e n t t h e d u st e n te r in g i n to t h e m o t o r. T o d o t h is t h er e

s ho ul d b e a t ig ht s ea l b et we en i mp el le r a tt ac hm en t a nd m ot or h ou si ng . P ar t o f t he m ot or

h o u si n g w a s d e si g ne d t o a c co m mo d a te t h e i m p e ll e r a n d t h e h o s e a t t a c hm e nt s . I t i s h e l d i n p l a c e

via a cylindrical attachment inside the robot cover.

4.2 Dust Collector Sub Assembly

D us t c ol le ct or s ub a ss em bl y c o ns is ts o f t he d u st c o ll ec ti ng c yl in d er , c e nt ra l o u tl et c yl in de r,

M a cr o f i lt e r, F i lt e r h o ld i ng p l at e , M i cr o F i l t er , C o n e H o ld i ng P l at e , C y c l on e C o ne s . T h e b e l o w

d r a w i n g s h o w s t h e e x p l o d e d v i e w o f t h e D u s t c o l l e c t o r a s s e m b l y . T h i s i s p l a c e d i n t h e f r o n t p a r t

o f t he v a cu um c le an e r s uc h t ha t t he i nl et i s l oc at ed b el ow t he m id p oi nt o f t he c y li nd er . S o t ha t

t he h e av y p ar ti cl es w il l s et tl e d o wn a nd m ic ro d eb ri s c a n t ra ve l a bo v e i nt o t he f il te r. T he o n ly

w a y f o r e x h au s t i s t h ro u gh t h e m a c r o f i l te r s i de s a n d c e n t ra l o u tl e t c y l i nd e r w h i c h w i l l f o r c e t h e

air to flow away into the exhaust ports on the top through the cyclone cones.

4.3 Final Assembly

T hi s i s t he f in a l p h as e o f t he a ss em bl y. I n t hi s p ha se f ir st t he r ob ot c ov e r i s l oa de d . L at er e a c h

a n d e v er y s u b a s s e mb l y u n i t w i ll b e a d d ed i n si d e t h e c o v er i n to t h ei r r e sp e c ti v e p o s i ti o ns . W h il e

a s se m b li n g t h em , r e la t iv e k i ne m at i c p r in c ip l es w e re b e a l lo t te d f o r t h e m a t in g c o mp o ne n ts i n

o r de r t o w o rk p r op e rl y d u ri n g t h e m e ch a n is m a n a ly s is . A f te r t h e s u b u n it s a s se m bl y , f a st e ne r s

w er e u se d t o h o ld t he m i n p la ce . H os es a re c on n ec te d w it h e ac h o th e r f r om i nl et t o t he o u tl et

ports.


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5 . A na ly si s

5.1 Stress Analysis

5.1.1 Robot Cover

S tr es s a na ly si s o n t he R ob ot c ov e r i s p er fo rm ed u si ng A NS YS S ta ti c S tr uc tu ra l M od u le . T he

boundary conditions applied here are shown the picture below. T h e r o b o t c o v e r w i l l b e a p p l i e d

w it h p re ss ur e o n i ts c ir cu mf er en ce t o t es t i ts s tr en g th . T hi s i s i mp or ta n t t o k n ow h o w m uc h

force it can take when an object hits while it’s moving around the room.

5.1.2 Impeller

I mp e ll er u ni t i s t es te d f or i ts s tr en gt h. T h e s tr en g th o f t he b la de s w as d et er mi ne d b y a p pl yi ng

pressure on them. While rotating the blades will undergo stress and strain. Boundary conditions

w er e a pp li ed a t t he c en te r o f t he i mp el le r s ha ft . P re ss ur e f un c ti on w as a ll ot te d o n t he b la de s o f

the impeller. The pressure applied was ……

5 . 2 D r o p T e s t

A d ro p t es t w as p e rf or me d o n i mp o rt an t c om po ne n ts o f t he v ac uu m c le an e r. R ob o t C ov e r a nd

D us t c ol le ct in g b in a re t he t wo c om po n en ts w hi ch n e ed t o s us ta in a n y a c ci de nt al d am ag e a s

well to protect the internal parts.

5 .2 . 1 R ob o t C ov er


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R ob ot c ov er i s o ne o f t he i mp or ta nt c om po ne nt o f t he v ac uu m c le an er . I t s ho ul d h av e g oo d

s t re n gt h i n o r de r t o s u st a in a n y a c c i de n ta l d a m a g e. A d r op t e st w a s p e r fo r me d o n r o b o t c o v e r i n

o rd er t o t es t t he s tr en gt h o f t he m at er ia l t ha t h a ve c ho se n f or t he c o ve r. T h is w il l g iv e a n i de a

about the maximum amount of impact force it can sustain after it drops from a particular height.

5 . 2. 2 D u st C o ll e ct i ng B i n

D u st c o ll e ct i ng b i n i s u s ed f o r a s se m bl i ng a l l t h e f i lt e rs a n d c o l le c t t h e d u s t f r o m t h e i n l e t. T h is

bin should be strong enough to sustain any accidental damage that cause because of an impact.

A ny b re a k i n t he d u st c ol le ct in g b in w il l c a u se t he a ir t o f l o w o u t si de t he f il te rs a nd c ha mb e r

area. This might cause the debris to fall outside of the chamber into the environment.

5 . 2. 3 W h ol e A s se m bl y

Complete assembly drop test was performed to see if anything breaks down during an

accidental impact. This is useful in predicting the parts failure inside the assembly. The below

picture shows the results of the analysis.

5 . 3 F l o w A n a l y s i s

A f lo w a na ly si s w as d o ne o n t he d u st c ol le c ti ng c ha mb e r. S im ul at io n w as d o ne t o c h ec k t h e

a ir fl ow f ro m i nl et t o t he o ut le t. A ir v el oc it y o f … …. w as a ll ot te d a t t he i nl et . T he a ir s ta rt s

f l ow i ng t h ro u gh t h e d u st c o ll e ct i ng b i n t h ro u g h t h e p o re s o f t h e f i l t er a s se m bl y . P i ct o ri a l v i e w

of the flow analysis was presented in the below figure.


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6 . A ni ma t io n

A one minute animation was compiled with Solid Works CAD software to demonstrate

different parts of the robot. It includes explode, collapse, rotation over x and y axis. It also

include animation of the moving parts inside the vacuum cleaner.

7 . Mo t io n A n al y s is

M ot io n a n al ys is i s d o ne f or t he m ot or a n d i mp el le r u ni t a s w el l a s f or t he w he e ls . S e r vo M ot or

f un ct io n w as a ll ot te d f or t he m ot or s. U si ng t hi s f un ct io n , c on st an t v el oc it y i s a ll ot te d f or t he

m ot or s pe ed . A s t hi s i s a h om e a pp li an ce a nd i t n ee d t o m ov e a t a c on st an t s pe ed t o c le an t he

f lo o r n e at ly t hi s f un c ti on i s w e ll s ui te d f or t hi s a n al ys is . P lo ts o f i np u t v s . o u tp u t f o r p os it io n

and velocity are included below for the motor-impeller unit and robot wheels.

8 . 2 D O r t ho g ra p h ic Vi e ws

This section presents the 2D orthographic views with dimension of the assembled product.

9 . D is c us s io n


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T he c om pl et ed p ro du c t c o st s l es s t ha n t he e x is ti ng d e si gn s i n t he m ar ke t b e ca us e o f i ts s im pl e

d e si g n. T h e d u st c o ll e ct i ng b i n i s t h e m a j o r p a r t o f t h i s d e si g n. I t c o l l e ct s m o r e a m o un t o f d e br i s

t ha n t he e xi st in g d es ig ns i n t he m ar ke t. T he v ol um e o f t he c ol le ct in g b in i s … …. A ls o t he

m ot or t ha t u se d i n t hi s d es ig n i s a B ru sh le ss D C M o t or o f 1 2 V ol ts . I t h av e a m ax im um c ur re n t

pull of 25 Amperes. Lithium Polymer batteries are used in the robot to supply power. These

batteries are lighter in weight and they can carry up to 5000mah of charge. Impeller unit is

a n o th e r i m po r ta n t p a rt o f t h e p r oj e c t. I t i s a s se m bl e d i n s id e t h e m o to r u n i t h o u s i ng i n a t i ny g a p.

I t c r ea t es n e g at i ve t h ru s t w h ic h w i ll d r iv e t h e p a r t ic l es f r om i n le t ( d e b ri s p i c k u p a t t a c hm e nt ) t o

t he d u st c ol le ct in g b in . T he se a tt ac h me n ts a re m ad e w id er a t o ne e nd a n d s m a ll er a t t he o th e r

e n d. T hi s g ra d ua l d ec re a se i n t he a re a w il l a cc o mm od a te t he v or te x f or ce s c re at ed i ns id e t he

d u st c ol le c ti ng b in a nd a ls o p re ve n ts t he e sc ap e o f a ny d us t p a rt ic le s b a ck t o t he e nv ir on me nt .

E ve n t he e x ha u st s ys te m h av e a t ra y w hi ch w il l s to p a dd it io n al h ea v y p ar ti cl es t ha t a re s ti ll

g o in g t h ro u gh t h e e x ha u st p i pe s . T h is m a ke t h e f i lt e ri n g p r oc e ss p r ec i se a n d l e a ve t h e c l e an a i r

from exhaust system. The functionality of the impeller is shown in the below Figure.

10. Future Scope

T hi s m od e l c an b e d e ve lo pe d f ur th e r t o i nt eg ra te m or e n u mb e r o f s en so rs a nd a ct ua to rs f or

a d v an c e d f u nc t io n s. O n e s p ec i fi c d e v el o pm e nt t h at c a n b e i m pl e me n te d i n t h is p r oj e ct i s o n t h e

w h e e l s . G a l i l e o w h e e l s y s t e m c a n b e i m p l e m e n t e d t o c l i m b s t a i r s . T h e b e l o w p i c t u r e s h o w s h o w

a G al il eo w he el s ys te m w or ks . I ns te ad o f U lt ra so ni c o r I R s en so rs , L ID AR s ys te m c an b e

e mp lo y ed o n t he r ob ot t o 3 D m ap t he e n vi ro nm en t a n d m a k e d e c is io ns h ow t o m ov e a ro u nd t he


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