Brainstorming VI

Ville RahikkaJuuso Kinnunen

Power source• Electricity:

o for motor driving tireso Small battery for

emergencies

• Pressure:o for trunko for hydraulicso possibly for vacuumo Pressure source

• compressor on board– might be heavy and loud

• pressure imported via hose from static compressor

– long hoses

Trunk • http://www.youtube.co

m/watch?v=iNgdqOLtUZY&NR=1

• http://www.youtube.com/watch?v=tzL_UZkdLPY

• Manipulator also pressure powered

• Ballbearing or universal joint

Power transmission via one wheel• One driving wheel

o friction between rail and tire

o tire big enough to be able transmit enough power and contain all the necessary parts

o supporting structure has to be strong and secure (other safe mechanisms)

• Trade-in between size of the tire and the rail

Power transmission via two wheels• Two driving/supporting

wheelso more safeo two motors

• consume more space• more power

• Main issue is curveso wheels has to be able to

bend/twist - follow the shape of the curve

o curves has to be hugeo also size of the

machinery operating turntables increase

Air muscles

• Length: 210mm• Pull at 50 Psi: 12 kg• Max. Pull:  20kg

Electric air compressor example• 260x110x150mm• Max. Pressure: 42 Psi• W: 4kgs• N: 65 Db

Quick force calculation

• Result 10 Nm

Approximate robot weight

• Compressor 5 - 8kg• Motor 1 kg• Body 5 kg• Arm 5 - 8 kg• Telescopes 3 kg• Total ~25 kg