PDR Presentation

RIT MAV Team Project 05-001 2004-2005

RIT Micro Air VehiclePreliminary Design Presentation

Brian Gillis

Team Leader

Mechanical Engineering

Joshua Baker


Victoria Schoennagel


Aimee Lemieux


Aaron Grilly


Tzu-Chie Fu

Computer Engineering

Cuong Le

Computer Engineering

David Hein


Atul Phadnis

Electrical Engineering

J.E.D. Hess


Dr. Jeffrey Kozak

Team Advisor



OutlineI. BackgroundII. Design ObjectivesIII. Work TimelineIV. Airframe SelectionV. Electronics SelectionVI. Propulsion Selection MAV Team

05-001

Airframe Electronics Propulsion

Joshua BakerAaron GrillyDavid HeinJED Hess

Cuong LeTzu-Chie FuAtul Phadnis

Aimee LemieuxVictoria Schoennagel


Background According to DARPA, a Micro

Air Vehicle (MAV) has a maximum linear dimension of 6 inches.

Primarily being researched for surveillance and reconnaissance operations.

Other possible uses include forest fire detection, Bio-Chemical detection, etc.

Annual MAV competition where various teams compete in surveillance missions and flight performance tests.


Design Objectives Vehicle with a minimum linear dimension of 15 inches Vehicle can be scaled down in size and still produce

acceptable flight Vehicle must be a new design, not rely on last years design Airframe should be built out of composite materials if deemed

reasonable Vehicle must have GPS navigation capabilities along with

video surveillance Performance Goals

15 Minutes of flight time 600 Meter range

Attend International MAV Competition in Seoul, Korea Remain within $3,000 budget (excluding travel funding)


Work Timeline


Airframe Selection


Airframe Main Objectives

1. Flying Wing Configuration2. Modular Design3. Maximum Linear Dimension of 15 Inches4. Research and Test Unconventional Ideas5. Scalable Platform Upon Which to Base

Future Designs


Airframe - Airfoils E174 E186 EH2012 EH3012 FX63-137 GOE417a M10 M12 M14

MH46 RAF6 S1210 S2027 S4022 S4083 S5010 S5020 SD7080

E174 E186 EH2012 EH3012 FX63-137 GOE417a M10 M12 M14

MH46 RAF6 S1210 S2027 S4022 S4083 S5010 S5020 SD7080

GOE417a

S1210

S4022 S4083

To Be Tested in the Wind TunnelSurvived First Round of CutsXFLR5 Testing (Computer Simulation)


S1210

S4022

S4083

GOE417a


XFLR5 Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers

-1.00

-0.50

0.00

0.50

1.00

1.50

2.00

2.50

-10 -5 0 5 10 15 20

Angle of Attack (Degrees)

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GOE417a, 100,000

S1210, 100,000

S4022, 100,000

S4083, 100,000


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N o rm alized S co re 100% 94% 91% 79% R ela tiv e R an k 1 2 3 4

Evaluation of each concept against the baseline: 1 = much worse than baseline 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline

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LLooww RReeyynnoollddss nnuummbbeerr aaiirrffooiill 3.0 3.0 3.0 2.0 1.0 5.0 3.5 1.0 2.0 3.0 1.0 5.0 3.0 5.0 5.0 4.0 5.0 4.0 8% KKnnoowwnn pprriioorr uussee oonn aann MMAAVV 1.0 1.0 3.0 3.0 1.0 5.0 1.0 1.0 1.0 4.0 1.0 5.0 1.0 4.0 5.0 4.0 4.0 3.0 11%MMaannuuffaaccttuurriinngg eeaassee aanndd aaccccuurraaccyy 3.0 3.0 3.0 3.0 3.0 5.0 3.0 3.0 3.0 3.0 4.0 4.5 3.0 4.5 4.0 4.0 3.5 4.0 6% MMaannuuffaaccttuurriinngg ttiimmee 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 0% RReeaassoonnaabbllee ccaammbbeerr ((11%%--88%%)) 3.0 1.0 1.0 1.0 1.0 4.0 1.0 1.0 3.0 2.5 1.0 5.0 2.0 4.0 5.0 2.0 2.0 2.0 11%SSoommee rreefflleexx iinn ddeessiiggnn 1.0 4.0 3.0 3.0 1.0 2.0 3.0 2.0 3.0 3.0 1.0 2.0 2.0 3.0 3.0 3.0 4.5 2.0 14%RReeaassoonnaabbllee,, llooggiiccaall ggrraapphhss ((XXFFLLRR55)) 3.5 3.0 3.5 3.5 3.0 2.0 2.0 3.5 3.0 3.0 4.0 5.0 3.0 4.0 5.0 3.0 3.0 4.0 19%

CCll//CCdd 3.5 3.0 3.0 3.0 4.8 5.0 2.0 2.8 3.2 3.0 3.0 5.0 3.5 5.0 4.8 3.0 3.0 3.0 19%CCmm 3.0 1.0 3.0 2.0 4.9 3.0 2.0 3.0 3.0 3.0 2.5 3.0 3.0 4.6 5.0 3.0 3.0 3.0 11% WWeeiigghhtteedd SSccoorree 2.7 2.5 2.9 2.7 2.7 3.7 2.1 2.3 2.7 3.1 2.3 4.3 2.6 4.2 4.6 3.1 3.4 3.1

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Airfoil Feasibility Assessment


Airframe - Planform

Rectangular Zimmerman Inverse Zimmerman Circle/Elliptical Modified Inverse

Zimmerman

Most Likely Design: Straight Leading Edge Approximation of the Inverse Zimmerman Planform


Airframe - Composition Balsa Wood with Canvas Foam (Polystyrene) Foam with Single Fiberglass

Layer Carbon Fiber Carbon Fiber with Lightening

Holes Composite (Kevlar, Fiberglass)

Foam and Fiberglass Combination will be Used for Testing, Composition of Final MAV Airframe Still to be Determined


Airframe Pod Location

Mounted Above Wing Mounted Below Wing Between Bi-Wing Suspended Below Wing

Most Likely Design: Mounted Below Wing


Airframe Control Surfaces Options Considered

Vertical Tail (and Elevator) Single (High or Low Orientation Possible) Double (High or Low Orientation Possible) Angled Vertical Tail

Winglets Vertical Winglets Angled Winglets

Canards Elevators Ailerons Elevons

Current Approach: V-Tail Protruding from Pod, Extending Beneath Wing. Elevator to be Integrated if Necessary


Future Analysis

Test Airfoils Control Surface

Sizing and Location Airframe Prototype

(March 14th) Refine Design Evaluate and Test

Radical Ideas


Electronics Selection


Full System Design


Components Onboard RF Controller/Receiver Onboard Speed Controller Onboard Servos (Actuators) Onboard Video System

Video Transceiver & Camera Passive Antenna Array Onboard GPS System

Onboard GPS Receiver Onboard GPS Video Overlay Board

Batteries


Onboard RF Controller/Receiver RF Controller Selected:

Futaba 6YGE 72 MHz RF Controller Onboard RF Receiver Selected:

GWS NARO R-6NH/V Receiver Channels: 6 Size: 20 x 30 x 9.5 (mm) Weight: 8.8 g

We selected the GWS NARO R-6N receiver due to its 6 channel design. This allowed for improvements in the form of additional onboard feature/control devices.

Compatibility of the controller/receiver has been verified since both use the Futaba data transmission format.


Onboard Speed Controller

Onboard Speed Controller Selected: Phoenix-10

The Phoenix-10 speed controller is the leading candidate to be chosen due to its compatibility with the DC motor that is being recommended by the propulsion subgroup.


Onboard Servos (Actuators)

Onboard Servos Selected: Wes-Technik LS-2.0

Time to Full Deflection (sec): 0.15 Max Output Force: 160 g Dimensions (mm): 21 X 13 X 9 Load Current: < 100 mA Weight: 2 g

The LS-2.0 is the suitable choice for this project since weight is considered to be one of the most important factors.


Onboard Video System Video System Selected:

Black Widows 200 mw Brown Bag Kit 200 mw transmitter/receiver set NTSC 5V Color CCD Camera 8 dbi Circular Polarized Patch Antenna

The 200 mw transmitter/receiver set has been selected to increase the transmission range of the video signal from the MAV to the base station. This increase in range is a critical solution to a previous performance issue of signal propagation failure.


Passive Antenna Array

Passive Antenna Array Selected: Leading candidate Hyperlink

HG2414P Horizontal/Vertical Beamwidth (deg): 30/30 Gain (Directivity): 14 dB

It is ideal to have an antenna that has a balance between the coverage area and the gain. Therefore, the HG2414P is chosen for its fairly good coverage area and an acceptable gain.


Onboard GPS System GPS System Selected:

UNAV PICO-GPS-SS (GPS Receiver)

Size: 1.8 x 1.25 x 0.6 Weight: 28 g

UNAV OSD-GPS (GPS Video Overlay Board)

Size: 2.5 x 2.5 x 0.5 Weight: 22.4 g

We selected the UNAV GPS system due to its small size and weight. Also, the UNAV GPS receiver is complimented by the UNAV video overlay board. These components have already been tested and represents a completely integrated system for GPS data acquisition.


Batteries Onboard Battery Cells

Leading Candidate Kokam SLPB433452 Capacity: 740 mAh Voltage: 3.7 V Dimensions (mm): 52 X 33.5 X 4.35 Volume (mm3): 7577.7 Weight: 15 g

We have selected the Kokam battery family to supply the onboard current and voltage requirements. Battery packs can be custom made in serial or parallel configurations based on power requirements. Once the total power needs are known, a final battery package can be selected.


Propulsion Selection


Propulsion Brainstorming

Power System Options IC Engine

Electric Motor

Rocket Propulsion

Propeller Options Off The Shelf Item

Modified Off The Shelf

In House Fabrication


Computation

eARd

dCddC

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=eARCCC LDD

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CCWT = v

PT 97.101=

Initial Values Revised Values

All Estimated ValuesVariables 2004 2005dC l /d 0.1 0.1

AR 1.422 1.422S (m 2 ) 0.048 0.102b (m) 0.26 0.381

e 0.9 0.9dC L /d 0.041 0.041

AOA (deg) 9 9C L 0.95 0.95

W (g) 97.9 202.35C D 0.243 0.252C D0 0.018 0.027T (g) 25 53.598

Based on Chosen ElectronicsVariables 2004 2005dC l /d 0.1 0.1

AR 1.422 1.422S (m 2 ) 0.048 0.102b (m) 0.26 0.381

e 0.9 0.9dC L /d 0.041 0.041

AOA (deg) 9 9C L 0.95 0.95

W (g) 97.9 198.48C D 0.243 0.252C D0 0.018 0.027T (g) 25 52.573


Feasibility AssessmentEvaluate each additional concept against the baseline, score each attribute as: 0 = much worse than baseline concept 1 = worse than

baseline 2 = same as baseline 3 = better than baselinePropeller

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T = 105-130 g; C = $20-80; W = 15-20 g; I = 0.8-1 A; V = 7-9 V ----- 2 2 2 2 2 2 2 2.00 94%GW/EDP-50XC Direct Drive Power System with 2/EP-3020 EP3020 0 3 2 1 2 0 0 1.40 66%GW/EDP-50XC Direct Drive Power System with 2/EP-3020 EP3020 0 3 2 2 3 0 0 1.60 75%Feigao 1208430S 12x22mm Brushless Motor EP7060 2 2 3 1 2 0 0 2.13 100%GW/EDP-150 Motor w/Capacitor & 2-Pin Black Motor Connector EP4530 1 3 0 1 3 0 0 1.27 59%B2C Light Power System (GW/LPS-B2C-C) EP7035 0 3 3 3 2 0 0 1.93 91%B2C Light Power System (GW/LPS-B2C-C) EP7060 0 3 3 2 3 0 0 1.87 88%B2C Light Power System (GW/LPS-B2C-C) EP7060 0 3 3 2 2 0 0 1.80 84%RXC Light Power System (GW/LPS-RXC-A) EP7060 0 3 1 2 3 0 0 1.33 63%RXC Light Power System (GW/LPS-RXC-A) EP7060 0 3 1 1 3 0 0 1.20 56%RXC Light Power System (GW/LPS-RXC-A) EP8043 1 3 1 1 3 0 0 1.53 72%RXC Light Power System (GW/LPS-RXC-A) EP8060 0 3 1 2 3 0 0 1.33 63%Astro Mighty Micro Brushless 010 (801 V 14T Direct Drive Motor) 5.5 x 4 MAS 3 1 0 1 2 0 0 1.47 69%Astro Mighty Micro Brushless 010 (801 V 14T Direct Drive Motor) 5.5 x 4 MAS 3 1 0 1 2 0 0 1.47 69%Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 9 x 6E 2 1 0 1 2 0 0 1.13 53%Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 9 x 6E 3 1 0 1 2 0 0 1.47 69%Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 10 x 7E 3 1 0 1 2 0 0 1.47 69%Astro Mighty Micro Brushless 010 (801 G 14T Geared Motor) APC 10 x 7E 3 1 0 1 2 0 0 1.47 69%Sensorless 16 mm dia, Brushless, 15 W (EC 16, 266523) Not Given 0 1 0 1 1 0 0 0.40 19%Sensorless 22 mm dia, Brushless, 20 W (EC 22, 200858) Not Given 1 1 0 3 1 0 0 1.00 47%16 mm dia, Graphite Brushes, 4.5 W (RE 16, 118730) Not Given 0 1 0 3 1 0 0 0.67 31%25 mm dia, Precious Metal Brushes CLL, 10 W (RE 25, 118743) Not Given 0 1 0 2 1 0 0 0.53 25%Feigao 1208436L 12x30mm Brushless Motor EP3020 1 2 2 1 2 0 0 1.53 72%

Relative Weight 33% 20% 27% 13% 7% 0% 0%


Propulsion Static Testing1) Calibration of load cell

2) Static Propeller TestingThrust to Current Ratio

3) Static Motor TestingThrust to Current RatioMotor Body Temperature

Load Cell Calibration

y = 0.0056x + 0.9795R 2 = 1

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Propulsion Dynamic Testing Drag of test setup

FD = FSG2 FSG1 Dynamic propeller testing

Dp = Dt Dm Dsetup Dynamic motor testing

Dm = Dt Dp Dsetup

T1 T2 T3 T1 T2 T3 T1 T2 T3 T1 T2 T3 T1 T2 T3 T1 T2 T305

1005

10: : :4 15 10

Voltage (V) Wind Speeds (m/s)

Propeller EP7060

4

T/W Ratio T/D RatioAOA (deg) Drag (g) Thrust (g) RPM

8

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Current Draw (A)


Will it Buckle?

cmLcmycmx

gFgF

y

x

08.553.4145.20

458200

1

1

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mNT = 73.1mNq /56.3910 =

cmt 0508.02 =55.4=FS


Questions?

Thank you for your time!


Sneaker Slides


Airframe - Concerns

Location of Center-of-Gravity Produce Required Lift Reduce Drag


Master - Airfoil Data - Command Sheet

Choose Airframe(s)

CL 50,000 E174 CD 75,000 E186 Cm 100,000 EH2012 CL/CD 125,000 EH3012

150,000 FX63137175,000 GOE417a200,000 M10225,000 M12250,000 M14275,000 MH46

RAF6S1210S2027S4022S4083S5010S5020SD7080

Check One Characteristic Choose Reynolds Number Value(s)

Plot SelectedClear

Select All Re

Select All Airfoils


XFLR5 Data - Cl/Cd vs. Angle of Attack for Airfoils at Reynolds Numbers

-50.00

0.00

50.00

100.00

150.00

200.00

250.00

300.00

350.00

400.00

450.00

-10 -5 0 5 10 15 20


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S1210, 100,000

S4022, 100,000

S4083, 100,000



-1.00

-0.50

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1.00

1.50

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S4022, 100,000

S4083, 100,000


XFLR5 Data - Cd vs. Angle of Attack for Airfoils at Reynolds Numbers

0.00

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0.20

0.25

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S1210, 100,000

S4022, 100,000

S4083, 100,000


XFLR5 Data - Cm vs. Angle of Attack for Airfoils at Reynolds Numbers

-0.30

-0.25

-0.20

-0.15

-0.10

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S1210, 100,000

S4022, 100,000

S4083, 100,000


GOE417a Data - Cl vs. Angle of Attack for Airfoils at Reynolds Numbers

-0.60

-0.40

-0.20

0.00

0.20

0.40

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0.80

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1.20

1.40

1.60

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100,000 - XFLR5

200,000 - XFLR5

99,500 - Experimental




-0.05

0.00

0.05

0.10

0.15

0.20

0.25

-10 -5 0 5 10 15 20


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100,000 - XFLR5

200,000 - XFLR5




Onboard RF Controller/Receiver

100.0%100.0%82.5%70.0%45%66.7%Normalized Normalized

ScoreScore

4.04.03.32.81.82.66666667Mean ScoreMean Score

332315RX RangeRX Range

333434Voltage NeededVoltage Needed

544312VolumeVolume

345311WeightWeight

553111Current NeededCurrent Needed

553343ChannelsChannels

GWSGWS--NARO NARO

RR--6N/H6N/H

GWSGWS--NARO NARO

RR--6N/V6N/V

GWSGWS--PICO R4PPICO R4P--

JSTJST(Last year)(Last year)

HitecHitecFeatherFeather

AirtronicsAirtronics92515Z92515Z

HitecHitecHFSHFS--04MG04MGFactors/Candidates


Onboard Speed Controller

72.7%100.0%90.9%Normalized ScoreNormalized Score

2.02.82.5Mean ScoreMean Score

133Dimensions (mm):Dimensions (mm):

511CompatibilityCompatibility

143Current NeededCurrent Needed

133WeightWeight

PhoenixPhoenix--1010WesWes--TechnikTechnik

YGEYGE--33(Last Year)(Last Year)

WesWes--TechnikTechnikYGEYGE--66Factors/Candidates


Onboard Servos (Actuators)



325WeightWeight

333Load CurrentLoad Current

333DimensionsDimensions

333Operating VoltageOperating Voltage

453Max Output ForceMax Output Force

233Time to Full DeflectionTime to Full Deflection

333Max DeflectionMax Deflection

WesWes--TechnikTechnikLSLS--2.42.4

WesWes--TechnikTechnikLSLS--3.03.0

WesWes--TechnikTechnikLSLS--2.02.0Factors/Candidates


Onboard Video System

100.0%95.2%Normalized ScoreNormalized Score

3.02.857142857Mean ScoreMean Score


23WeightWeight

23Current DrainCurrent Drain


33Number of ChannelsNumber of Channels

52Transmission PowerTransmission Power

33Operating FrequencyOperating Frequency

BWAV240200BWAV240200200 mw TX/RX200 mw TX/RX

BWAV240050BWAV24005050 mw TX/RX50 mw TX/RXFactor/Candidate


Passive Antenna Array

100.0%81.8%90.9%81.8%100.0%Normalized ScoreNormalized Score

3.73.03.33.03.7Mean ScoreMean Score

15433Gain (Directivity)Gain (Directivity)

52334Vertical Vertical BeamwidthBeamwidth

52334Horizontal Horizontal BeamwidthBeamwidth

HG2409PHG2409PHG2424GHG2424G(Last Year)(Last Year)HG2416PHG2416PHG2414DHG2414DHG2414PHG2414PFactors/Candidates


Onboard GPS System



213Current DrainCurrent Drain



123WeightWeight

533AccuracyAccuracy

UNAVUNAVPICOPICO--GPSGPS--SSSS

SarantelSarantelSmart AntennaSmart Antenna

FurunoFurunoGHGH--7979Factors/Candidates


Batteries

57.1%71.4%100.0%85.7%Normalized ScoreNormalized Score

2.02.53.53.0Mean ScoreMean Score

3142WeightWeight

1153VolumeVolume

1333VoltageVoltage

3524CapacityCapacity

iRateiRateLP500LP500

KokamKokamSLPB523459SLPB523459

KokamKokamSLB452128SLB452128

KokamKokamSLPB433452SLPB433452Factors/Candidates


ComputationVariables 2004 2005dC l /d 0.1 0.1

AR 1.421697 1.421697 Assume same shape for both years so AR remains the sameS (m 2 ) 0.047549 0.102104 For 2004, assume 90% of 8" x 26 cm rectangular wing is remainingb (m) 0.26 0.381 For 2005, assume 15" wing span

e 0.9 0.9 Assume 0.9dC L /d 0.041231 0.041231

AOA (deg) 9 9C L 0.95 0.95 @ 9 deg AOA, est. from Figure 33 on pg 46 of PDR

W (g) 97.9 202.35 Actually a Mass; 2004 from Table 16 on pg 73 of CDRC D 0.242594 0.251634C D0 0.018078 0.027117 2005 is about 1.5x the size of 2004 so increase CD0 by that muchT (g) 25 53.59796

eARd

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PT 97.101=


Feasibility AssessmentPairwise Comparison:

Place an "R" if the row is more important. Place a "C" if the column is more

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Thrust R R R R 4 0 5 33%Cost C R R 2 0 3 20%Weight R R 2 1 4 27%Current R 1 0 2 13%Voltage 0 0 1 7%Additional 1 0 0 0 0%Additional 2 0 0 0 0%

Column Total 0 0 1 0 0 0 0 15 100%

*Added 1 to each total to allow each parameter to have some percentage (except for undefined parameters)


Propulsion Concept Development Propulsion subsystem must produce enough thrust to accomplish our project goals.

Weighted scale showed an electric motor is the best of the three power options for our MAV.

Based on time limits, and lack of experience making precise molds, off the shelf propellers will be used.

Off the shelf propellers will be tested with modified shapes and in original shapes to achieve the highest efficiency.

Once our team has a working MAV, we may return to propeller design.


Buckling CalculationsCalculations to determine t2

Variable Value Unit Value Unit Variable Value Unit Value UnitL 2 inches 5.08 cm X1 8.052 in 20.45 cmh 1 inch 2.54 cm Y1 16.35 in 41.53 cmt2 0.02 inch 0.0508 cm Fx 0.441 lbf 200 gramt1 0.125 inch 0.3175 cm Fy 1.010 lbf 458 gram

Acs 0.02 in^2 0.129 cm^2c 1.2 --- 1.2 ---E 10300000 psi 71 GPaSy 10000 psi 70 MPa

l/k 346.410(l/k)1 156.198

Pcr 20.331 lbs 90.434 N

t2 Sy (psi) l/k (l/k)1 Method0.03 10000 346.410 156.198 Euler0.03 30000 346.410 90.181 Euler

CalculationsM = T = 15.34 lbf-in 1.73 N-mqo 2.24 lbf/in 391.56 N/m

4.47 lbf 19.89 NFS = 4.55

Calculated values

Determining Buckling Method to use for Various Sy values

Force in compressed side =


Load Cell Mount Drawing


New Back Upright Drawing


New Front Upright Drawing


Strain Gage Box Drawing


DC 6V EE Power Supply 5V +/- 12V Serial #EE1015

Load Cell SMD Sensor S250 1kg

100ohms

INA114 Instrumentation Amplifier Burr Brown w/ 100ohm Resistor

Oscilloscope TetronixSerial #B012473

Vc

Ref

Multimeter (// to Oscilloscope) Craftsman Serial #CCL02079157


25Kohm 25Kohm

25Kohm

25Kohm 25Kohm

25Kohm


Load Cell SMD Sensor S250 1kg

100ohms

INA114 Instrumentation Amplifier Burr Brown w/ 100ohm Resistor

Oscilloscope TetronixSerial #B012473

Vc

Ref

Multimeter (// to Oscilloscope) Craftsman Serial #CCL02079157


25Kohm 25Kohm

25Kohm

25Kohm 25Kohm

25Kohm

Propulsion Load Cell Calibration Electrical Schematic


Propulsion Motor Testing Electrical Schematic

+ -

R L

Motor

MPJA Multimeter Serial # CCL010412272

R1

Shenzhen Mastech DC Power Supply: HY3003-3

Note: R1 is dependent on the internal resistance (R) of the motor

T

PDR Presentation

Documents

Transcript of PDR Presentation