Dynamic Optimization of a Rimless Wheel with an Actuated ...
Rimless Wheel Project Update
description
Transcript of Rimless Wheel Project Update
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Rimless Wheel Project
UpdateWeek 4
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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
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Customer Needs1.Periodic motion2.Walk at least 25 steps3.Endure several trials on one
charge4.Be portable5.0.05 - 0.1 Cost of Transport
(CoT)
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Customer Needs, cont.6. Collect motion data
a.Angular velocityb.Angle between wheel and
frame7. Collect current/voltage data
c.Batteriesd.Actuators
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Specifications
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Risk ManagementIllness/time consuming obligations (1,3)
Effectiveness of actuation (3,3)
Lead times and Manufacturability (3,3)
Balancing weights of new components (1,3)
Material flaws (2,1) Accuracy of Sensors (2,1)
Theory -> Physical (2,3)
Technical errors (3,1)
Cost vs quality (2,3) Lag time of controls (3,1)
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Functional Decomposition
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System Block Diagram
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Design Ideas Outline• Frame materials • Actuation• Spring • Axle• Sensors • Batteries
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Design Ideas, cont.• Data storage devices • uProcs + ADC
o motor control o data acquisition
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Frame materials
Metals• Aluminum• Steel
Composite Materials• Fiberglass• Carbon Fiber
Frame• Plate• Truss structure
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CAD Drawings
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CAD Drawings
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CAD drawings
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Possible Invitees to SDR• Dr. Gomes• Mr. Edward Hanzlik• Mr. Leslie Moore• Dr. Slack• Dr. Sahin?
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Proposed Agenda
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Questions/Comments?