Warwick Mobile Robotics 2014/15€¦ · Chassis Drivetrain Electronics & Software Final Design...

Warwick Mobile Robotics2014/15

Design & Development of a Miniature UrbanSearch and Rescue (M-USAR) Robot

Contents

IntroductionDesign

OverviewChassis Drivetrain

Electronics &Software

Final Design Conclusions

Introduction – Introducing the team, sponsors, aims and objectives

Design Overview – Design methodology and benchmarking

Chassis – Specification, design, development and manufacture

Drivetrain – Specification, design, development and manufacture

Electronics and Software – Specification, design, developmentand manufacture

Final Design – Final robot design, testing and critical review

Conclusions – Finances, project benefits, outreach and further work

2014/15

Sponsors:

IntroductionDesign

Warwick Mobile Robotics – Background

IntroductionDesign

WMR Robots

IntroductionDesign

2013/14

Robot2013/14

2012/13

Robot2012/13

Strategy – 3-Year Plan

IntroductionDesign

Strategy – Project AimsAim 1:

Deliver a mechatronic framework for an innovative M-USARrobot by May 2015 as the first stage of a three-year plan

Aim 2:

Provision for design development by future WMR teams

Aim 3:

Exhibit the robot as an educational platform to inspire youngergenerations

IntroductionDesign

Strategy – Objectives

IntroductionDesign

Analyse currentUSAR designs

Benchmark existingWMR robots

Define anachievable

specification

Design a miniaturemulti-terrain robot

Include noveland innovativedesign in robot

Consider ease ofmanufacture and

maintenance in design

Test and validatecomponents and

features

Provision for furtherwork with handover

documents

Showcase the robotthrough exhibitionsand media sources

ProjectObjectives

Design Overview

IntroductionDesign

Presented by

RebeccaSaunders

Benchmarking

IntroductionDesign

Strengths Weaknesses

Strong manipulator MobileWide range ofsensors

Very bespoke Difficult to diagnoseand repair faults Unreliable drivetrain Heavy Large and unwieldy

M-USAR

Weight < 25kg Strong MakerBeam®

chassis Small size Uses off-the-shelfcomponents

Long battery change time Difficult to accessinternal components Poor chassis clearance Exposed brushed motorsWiring through movingcomponents Inadequate batterymanagement Poor battery life

Specification Overview

IntroductionDesign

Lightweight andadaptable chassis

Tracks

Suspension

Sensory array

Batterymonitoring

Strong shellMain

Features

Design Methodology

IntroductionDesign

ConceptDesign Stage

DesignDevelopment

DesignValidation

IntroductionDesign

Chassis

Presented by

Craig Fox

Chassis – Specification

IntroductionDesign

Max. length 522.0 mm

Max. height315.0 mmAccess panels

CoG low and central

Max. mass 5.0 kg

Crash at 1.0 ms-1

without chassis damage

Fall from 350.0mm without

chassis damage

Min. internal volume 3.9 x 10-3 m3

IntroductionDesign

Chassis – Concept Design

Chassis – MakerBeam®

Extruded 6000 seriesaluminium beam

Good ease of assembly

Good specific strength

Shell – 6082-T6 aluminium plate Good thermal conductivity

Good machinability

Lightweight properties

Chassis – Design Iterations

IntroductionDesign

V1 V2 V3 V4

Chassis – Design Iteration Summary

V1 V2 V3 V4

Chassis Version No.

Change in chassis dimensions with version

Length, mm Width, mm

Height, mm Internal Volume, m3

V1 V2 V3 V4R

Chassis Version No.

Change in chassis design efficiency with version

Ratio of Internal Volume to LWH

IntroductionDesign

Chassis – Shell Design

IntroductionDesign

Chassis – Crash and Fall Resistance

SolidWorks buckling analyses of chassis response to a crash at 1.0 ms-1 and a fallheight of 350.0 mm

Maximum crash deflection of 32.7 mm and bending load factor of 41.4

Maximum fall deflection of 18.7 mm and bending load factor of -70.4

IntroductionDesign

Crash Fall

Chassis – Final Design

IntroductionDesign

Drivetrain

Presented by

LeighDawson

Lightweight

Compact

Durable

Mobile

IntroductionDesign

Drivetrain – Specification

Steering: Dual drive

Motors: Maxon Motor, EC-4pole

Ø22 mm, brushless, 90 Watt motor

IntroductionDesign

Drivetrain – Power & Transmission

Power fromMotors

Power toTracks

Drivetrain – Power & Transmission

Internal Layout:Sprocket & chainconfiguration turningdrive shafts

Motor &Gearhead

Sprockets &Chain

Drive Shaft

IntroductionDesign

Drivetrain – Suspension

Increased Mobility:Allows the M-USAR toeasier traverse rough terrain

Dual Shock Absorption:T-piece pivot handles smallinconsistencies; largervariations activate arm pivot

IntroductionDesign

Drivetrain – Suspension Design Iterations

Drivetrain – Suspension Validation

IntroductionDesign

Theoretical Modelling FEA Abaqus Simulations

IntroductionDesign

Drivetrain – Tracks

Tread Design: 20mm spacing of 10mmrubber treads; 10mm backing tread

Material: AbbrX 55 - silica-reinforcednatural and synthetic rubber mix tread

Track Guidance & Tensioning: 10mmraised guide on backing track to preventlateral disengagement. Adjustabletensioning

IntroductionDesign

Drivetrain – Final Designs

Power & Transmission Suspension Tracks

IntroductionDesign

Electronics& Software

Presented by

Avnish Popat &John Strutton

Electronics and Software – Architecture Overview

IntroductionDesign

Electronics and Software – Computational Architecture

Archi diagram

Electronics and Software – Architecture Diagram

IntroductionDesign

Software E-StopPico-ITX comms.

Battery Voltage Monitor

Electronics and Software – Safety System: BatteryMaster Switching

IntroductionDesign

Electronics and Software – Power Distribution Board

IntroductionDesign

Additional outputs

Thick Traces forflexibility

High power DC-DCconverters

Interchangeable fuses

Miniaturisation

Network and SLAM

Provision for reliable code, architecture and internal wiring

Test with singular motors prove capability and controllability

Modularity, power, and space for further expansion

IntroductionDesign

Electronics and Software – Summary

IntroductionDesign

Final Design

Presented by

RebeccaSaunders

Final CAD Design

IntroductionDesign

Wireframe Model Fully Rendered Model

Manufacturing

IntroductionDesign

Orion M-USAR

IntroductionDesign

Critical Review

IntroductionDesign

Optimised drivetrain with tracks and suspensionto enable multi-terrain travel Strong & accessible chassis and shell Battery safety system through quick access andemergency stop Easily adaptable mechanical and electricalsystems

Internal use of space could be more efficientWeight distribution Limited Battery Life Suspension is vulnerable to side impacts

IntroductionDesign

Conclusions

Presented by

Paul Martin

Total Project Cost:£58,964.94

Material Cost:£4,082.94

Estimated Cost of Human Life:£6.1 million

IntroductionDesign

Outreach

IntroductionDesign

Imagineering Fair 2014

3D Printing in Schools Showcase at theHerbert Art Gallery

WMG’s “Thinking About University?” andother recruitment events

School of Engineering Open Days

Cheltenham Science Festival

Publicity

IntroductionDesign

Project featured in: Eureka Magazine (website), January 2015 Control, Drives and Automation (website), January 2015 (Editor’s Pick) Maxon e-Newsletter, January and February 2015 Design Engineering News, February 2015 (Page 1) The Engineer (website), February 2015 Motion Control Newsletter, March 2015 P&T Review (website), March 2015

Post Reach on WMR Facebook PageWeekly Post Reach Cumulative Total Post Reach

IntroductionDesign

Strategy – Objectives1. Analyse Current USAR Designs

2. Benchmark Existing WMR Robots

3. Define an Achievable Specification

4. Design a Miniature Multi-Terrain Robot

5. Include Novel and Innovative Features

6. Consider Ease of Manufacture and Assembly

7. Test and Validate Components and Features

8. Provision for Further Work with Handover Documents

9. Showcase the Robot through Exhibitions and Media

IntroductionDesign

Aim 1:

Deliver a mechatronic framework for an innovative M-USAR robot byMay 2015 as the first stage of a three year plan

Aim 2:

Provision for design development by future WMR teams

Aim 3:

Exhibit the robot as an educational platform to inspire youngergenerations

Strategy – Project Aims

Recommendations

IntroductionDesign

Innovative Design & Analysis

Manufacture & Testing

Programming & Architecture

Under Budget

Outreach, Media & Publicity

Achievement of Aims &Objectives

Long Term Three-Year Plan

Summary

IntroductionDesign

Thank You for Listening,Any Questions?

Warwick Mobile Robotics 2014/15€¦ · Chassis Drivetrain Electronics & Software Final Design...

Documents

Treads by Gamaya

Tread Softly - The Rambling Bilbiesmembers.iinet.net.au/~robnjill/pictures/Tread Softly words.pdf · Tread Softly - The Rambling Bilbies You Always For Jill, who treads softly with

RALLY TYRES - · PDF fileThe treads of the various versions of rally tyres are described by one or two letters followed by a number. The letters identify the type of tread

Hybrid Drivetrain

Unit 11 Tank Drive Tank Tread Drive A tank tread drive is a drivetrain that uses a continuous track as a drive member; this track is driven by one or

Introducing the industry’s only sustainable safety treads EcoTread … · 2021. 4. 23. · Multiple tread options provide a wide variety of coordinating color options that are perfect

Tyre Treads Ppt

BUILDING TImBER STEPS - Cairns · PDF fileA basic open stairway consists of the two stair stringers and the treads. ... 3 CALCULATE CLEAR TREAD WIDTHWidth the acceptable

PLITEQ TREAD™tread.pliteq.com/wp-content/uploads/2018/06/TREAD... · 2019-06-07 · PRODUCT OVERVIEW PLITEQ TREAD™ OVERVIEW TREAD GRIP 8 TREAD CUSHION 8 TREAD CUSHION 30 4 Pliteq®

Weldlok Stair Stringers… · 2015. 12. 21. · Weldlok® stair stringers are available configured for 2 to 17 treads. Tread mounting brackets can be purchased separately. Galvanised

INTRODUCING Stair Treads + Nosings · 2021. 6. 23. · Anti-slip stair treads help prevent pedestrian slips and falls, limiting risk and liability. TREAD SELECTION GUIDE Stairways

TURN SEQUENCE COMBAT RESULTS TABLE - Steve Jackson … · 2 Missile Tank 1 tread n/a 1-to-2 2 GEV 1 tread 1 die 1-to-1 3 GEV-PC 1 tread 1 die 1-to-2 3 Heavy Tank 2 treads 1 die 1-to-2

Stairs - CornerStone Wall Solutions · Concrete Core Fill All Step Units Step 7 stair treads · CornerStone® 12 inch deep cap units can be used as a stair tread · Option: Pavers,

BAR GRATING - Direct Metals Company · 30. . 800.711.4939. BAR GRATING. Stair Treads. STANDARD TREAD WIDTHS AND END PLATE DIMENSIONS *Table of widths based on 3/16" …

media.tarkett-image.com€¦ · Tread/Riser Visually Impaired (VIFRPANTR) 2.00 . Angle Fit Rubber Tread Risers with Integrated Risers Angle Fit Rubber Stair Treads Landing Tile All

Pankl Drivetrain Systems€¦ · Pankl Drivetrain Systems specialises in developing, designing, manufacturing and testing of drivetrain components. Fabricated components are produced

Appendix 3 – Treads...Appendix 3 – Treads A3 3 STT-2 Solid timber tread with non-slip strip STTR-1 Solid timber tread with riser board B P 2 SST-2.ipt 1 6 0 R i s e n N o m i a

Treads June 2009

colorspec stair treads - Mannington Flooring colorspec... · colorspec ™ stair treads rubber stair treads The superior rubber formulation offers a slip-resistant surface, while

OAK STAIR CLADDING INSTALLATION INSTRUCTIONS · continue to install treads, working downwards a tread at a time. Winder and quarter space landing treads are installed in the same