Team 14: The Design and Construction of an Ackerman-Steered Robot Members: Kyle Quinn Julio Sosa
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Transcript of Team 14: The Design and Construction of an Ackerman-Steered Robot Members: Kyle Quinn Julio Sosa
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Team 14:
The Design and Construction
of an Ackerman-Steered Robot
Members:
Kyle Quinn
Julio Sosa
Robert Steel
Trevor Woods
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Introduction
Final Design Suspension Drive Line Motor Layout and Gearboxes Overall Layout
Finite Element Analysis
Adams Model
Cost Analysis
Spring Plans
Overview
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Project Scope Research Robot All-terrain capabilities Accommodates Sensors
and Hardware Front and Rear Ackerman
Steering
Client CISCOR
Introduction
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Double Wishbone Single Strut per
Wheel Fabricated Arms
Suspension
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Telescoping Universal Drive Shaft
Drive Line
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Steering Linkage
Rack and Pinion Threaded Rod with
Tie rods
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Overall Layout
Front and Rear Symmetrical
Controllers in Rear Motors Parallel to
Frame Batteries Around
Frame
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Finite Element Analysis
Physical properties assigned to steel within the Pro/ENGINEER software package.
Steel Poisson’s Ratio 0.27 Density 0.283 lbm/in^3 Young’s Modulus 2.9e7 psi
Physical properties assigned to aluminum within the Pro/ENGINEER software
package.
Aluminum 2014 Poisson’s Ratio 0.33 Density 0.1 lbm/in^3 Young’s Modulus 1.06e7 psi
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Finite Element Analysis (cont.)
Maximum Displacement of 0.0169" Maximum Displacement of 0.0197"
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Adams Model
Tire Unloaded Radius
5.25 in
Wheel Mass 2.25 lbm
Sprung Mass 150 lbm
CG Height 12 in
Wheelbase 30 in
Drive Ratio 50/50
Brake Ratio 50/50
Suspension Position
Front
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Adams Model
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Adams Model
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Future Plans
Get final Approval from Ciscor
Order Parts
Send Parts out for Fabrication
Assembly
Wiring/ Programming
Testing
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Hibbler, R. C. 1993. “Statics and Mechanics of Materials: Second Edition”. Prentice Hall. pp. 139-177, 209-225, 511-537, 673-697.
Logan, Daryl L. 2007. “A First Course in the Finite Element Method”. Thomson. pp. 65-80
Staniforth, Allan. Competition Car Suspension: Design, Construction, Tuning. Newbury Park: Haynes Publishing, 1999.
Stone, Richard, and Ball, Jeffrey K. Automotive Engineering Fundamentals. Warrendale: Society of Automotive Engineers, 2004.
"About Pro/MECHANICA." Pro/MECHANICA Help. PTC. 29 Nov. 2008 <http://proe.ippd.ufl.edu/wildfire/html/usascii/promec/start.htm>.
“Car Bibles: The Car Suspension Bible” Car Bibles. 15 October 2008<http://www.carbibles.com/suspension_bible.html>
"Pro/ENGINEER Mechanica." Pro/ENGINEER Mechanica - PTC.com. PTC. 29 Nov. 2008
<http://www.ptc.com/products/proengineer/mechanica>.
References
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Center for Intelligent Systems Control and Robotics
Dr. Emmanuel Collins Dr. Patrick Hollis Dr. Oscar Chuy Damion Dunlap Dr. Chiang Shih Dr. Daudi Waryoba Donald Hollett Hobbytown USA
Acknowledgements
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Questions?