Mobility: Stair Navigation and Turning

Team MIEUX – ASME Design CompetitionSeptember 23, 2004

Stefan CampbellCarlos CeladaChris Villani

Laurel Weiske

TEAM MIEUX

TEAM MIEUX

1. Power forward to contact step face

2. Rotate counterbalance to enter raised position

3. Power forward to advance front wheels past stair face

4. Rotate counterbalance to bring front wheels into contact with stair top

5. Power forward to climb stair (front wheels pull forward while rear wheels push up)

Stair Ascension – 5 Steps

Stair Ascension

TEAM MIEUX

Vehicle drives forward Counterbalance rotates backward Vehicle enters raised position and drives forward

Counterbalance rotates forward Vehicle climbs stair Vehicle proceeds onto higher stair

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

TEAM MIEUX

1. Rotate counterbalance to place weight on front axle

2. Reverse Down Stair – dropping rear wheels down stair face

3. Rotate counterbalance to rear of vehicle

4. Power in reverse to pull front of vehicle down stair face

Stair Descent – 4 Steps

Stair Descent

Vehicle drives in reverse Counterbalance rotates forward Vehicle slowly lowers itself to the next step

Counterbalance slowly rotates backwardsas the vehicle drives in reverse

Vehicle reaches the step andadjusts the counterbalance

Vehicle proceeds

TEAM MIEUX

TEAM MIEUX

Propulsion•3 Motors

•2 to power independent rear wheels•1 to power front wheels together•RC/Hobby Motors not a feasible option (high speed, low torque)

•Drive Train•Rear wheels direct power•Front wheels powered by drive shaft – gears in 1:1 ration

•Want speed of front and rear wheels to be identical

•Control•L.R.M and front wheels are powered together

TEAM MIEUX

Propulsion Diagram

1. Rotate Counterbalance to rear of the vehicle – enter raised position

2. Power rear wheels in opposite directions to affect turning

• forward power to R.R.M and reverse power to L.R.M causes left turn

• reverse power to R.R.M and forward power to L.R.M causes right turn

3. Rotate Counterbalance towards front of vehicle – exit raised position

TEAM MIEUX

Turning Operations -- 3 Steps

TEAM MIEUX

What do the Trade Studies give Team MIEUX?

•Chassis Trade study will dictate all dimensions – including wheel size and counterbalance length – determine overall vehicle weight

•Motor/Drive Train Trade Study – select motors to power chassis of given dimensions – select all hardware (shafts, gears, bearings)

•Counterbalance Trade study – Dictate shape of arm – weight required– drive linkage