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Model design of the climber

for the Space Elevator

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-ALPHA-

Team:Aoki Bravo A

Speaker:：S.Tanaka

Department of Precision machinery engineering, Graduate School of Nihon University

Team Aoki Bravo A

Team introduction

―team “Aoki bravo A”―

8/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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Fig. 1 photos of JSETEC on August 7, 2011

Team Aoki Bravo A

Concept of the Climber

• To have extensibility– obtain many kinds of data for development.

Cameras, Rotary encorder, Aerotonometer,

Triaxial accelerometer, etc.

8/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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• For the competition– EuSEC

Payload：10[kg]

(including weight of the climer )

– JSETEC

Speed：10[m/s]

(This competition‘s target distance is 600m)

4

Fig. 2 The climber

Team Aoki Bravo A

Design of the climber

• Pressure originated from the springs

8/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

Drive shaftDrive shaftSpring

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Fig. 3 Tightening with spring

Drive shaftFig. 4 Simplified schematic

Rope

Z

X

Fig. 5 Installation on rope

Installation is easy

Team Aoki Bravo A

Design of the climber

• Constitution of frame– Using a frame for extensivility.

• Advantage of this method– This method can set up a new part easily

8/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

Fig. 6Alpha flame

Customizing easily

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Fig. 7 Climber 1 Fig. 8 Climber 2

Customizing easily

Team Aoki Bravo A

Design of the climber

• The design of the drive rollerThe drive roller is designed of three parts

– Advantage of this method

This method can Change material of the different hardness urethane

washer for choosing better friction between the roller and rope.

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Fig. 9 Roller Fig. 10 Washer

7 Team Aoki Bravo A

Sensors mounted on the climber

• Sensors - The climber was loaded with many sensors to fulfill the concept.

– Rotary encoder

-For checking the slipping between the roller and rope-

– CCD camera

-For observing the driven roller and rope-

8/25/20118/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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-For observing the driven roller and rope-

– Digital camera

- For observing the earth side

– Watt meter

– Angle sensor

– Triaxial accerometer

– Aerotonometer

8

Fig. 11 sensors

8 Team Aoki Bravo A

Specifications of the components

• Motor & Gear

NEU MOTORS

Motor : Neu 2230/1Y F

Gear box : Super HD 6.7:1

8/25/20118/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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Gear box : Super HD 6.7:1

Kv : 725[rpm/V]

Max Power : 5,000~10,000[W]

Max Rpm : 9,000[rpm]

9

Fig. 12 Motor & Gear Box

9 Team Aoki Bravo A

Specifications of the components

• Speed ControllerCastle Creations

PHOENIX ICE HV 160A

Kv : 725[rpm/V]

Max Power : 5,000~10,000[W]

8/25/20118/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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Max Rpm : 9,000[rpm]

• BatteryHYPERION

Cells :12S(6S+6S)

Volts :44.4[V]

Capacity :4500[mAh]

10

Fig. 13 Speed Controller

Fig. 14 Battery

10 Team Aoki Bravo A

Specifications of the components

• Power Transmission– With timing belt

– Gear ratio 2:1

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Fig. 15 Accurate region

11 Team Aoki Bravo A

Safety

• Emergency stop switch

8/25/2011

• Control of safety- Control during running

the brake control set whenever the climber’s speed reaches 4m/s

8/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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Fig. 16 Emergency stop switch

- If anything urgent happens

During an autonomous run the signal for the motor brake system can be transmitted wireless by PC

12 Team Aoki Bravo A

Manufacture

• The climber was designed by 3D-CAD• The versatile standard parts were used to the basic parts• The several components were manufactured at college workshop

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Fig. 17 College workshop Fig. 18 NC milling machine

13 Team Aoki Bravo A

Data of the experiment on JSETEC, 2011

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Fig. 19 Data of the experiment of about 450m

14 Team Aoki Bravo A

Data of running down with safety control

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Fig. 20 Data of running down

15 Team Aoki Bravo A

Achievements and Future works

• By changing materials of the urethane tire to hardness 30, 50, 70, 90. it was found the hardness 70 is the best.

• The length of the climber is better to be long for stability.• When the climber run down, the brake control which set whenever the climber’s speed reaches 4m/s is valid.

8/25/20118/25/2011 S.Tanaka "Model design of the climber for the Space Elevator"

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• Add more sensors to the climber• Duplication of control unit for safety• Weight saving for mounting more payload

16

Future Works

16 Team Aoki Bravo A

Thank you for your

attention.

Contact information

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Contact information• Postal Address

Aoki laboratory

7-24-1-#728, Narashinodai , Hunabashi-shi Chiba-ken

274-8501,JAPAN

Team Aoki Bravo A

• Team Member

S.Tanaka：E-mail: cssi10025@g.nihon-u.ac.jp

E.Hara

Y.Takezawa

A.Miyara