Ascension Wall Climbing Car Tyler Madden, EE · Disney’s VertiGo , Ascension doesn’t use...
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Ascension – Wall Climbing Car Tyler Madden, EE Marc Mitchell, Project Advisor Abstract Ascension is a remote controlled car that can climb any wall and theoretically even drive on the ceiling. Inspired by Disney’s VertiGo , Ascension doesn’t use vacuums to hold itself up, rather it uses controllable thrust vectors as its entire source of movement, has custom suspension and wheels, and is remote controllable for distances of nearly a mile. Design Results • Proof on concept - autonomously adjusts to counter gravity in any given orientation • Reads in commands from the user • Motors properly adjust based on user commands • Counters gravity if no user commands • Suspension properly adjusts • 3D printed mounts, wheel, shocks, and frame • Shocks allow for a smooth ride and keeps bounce through the system low • Pro Trinket 5V reading the long range receiver for user commands • Pro Trinket 5V reading 9- axis-inertial measurement unit to determine orientation in space • Motor speed controlled directly with flight receiver given user commands • Motors mounted with servos that rotate on two separate planes to allow 2 degrees of freedom • Servo mounted beside the motor allows rotation about the roll axis • Servo mounted on the support allows rotation about the pitch axis • Together with the 2D readings from the IMU, a 3D thrust vector is created to propel Ascension • Two electronic speed controllers, ESCs • Converts the dc source from the battery into a 3 phase ac source to power the brushless motors • Speed of the motors will vary based on the applied voltage, 0 – 11.1V, user controlled with the transmitter • 12V power supply from ESCs to buck converter to power all communications with 5V and 2.5A Ascension incorporates a Pro Trinket 5V processor as the master device and reads from a flight receiver and 9-axis inertial measurement unit. It also uses two high torque airplane motors which provide more thrust than low torque motors, two propellers, and a carbon fiber chassis for a strong, light, and flexible frame. Two Degrees of Freedom Communications Power and Speed Controllers Mechanical Final design of Ascension
Transcript of Ascension Wall Climbing Car Tyler Madden, EE · Disney’s VertiGo , Ascension doesn’t use...
Ascension – Wall Climbing Car
Tyler Madden, EEMarc Mitchell, Project Advisor
Abstract
Ascension is a remote controlled car that can climb any wall and theoretically even drive on the ceiling. Inspired by Disney’s VertiGo , Ascension doesn’t use vacuums to hold itself up, rather it uses controllable thrust vectors as its entire source of movement, has custom suspension and wheels, and is remote controllable for distances of nearly a mile.
Design
Results• Proof on concept - autonomously adjusts to counter gravity
in any given orientation
• Reads in commands from the user
• Motors properly adjust based on user commands
• Counters gravity if no user commands
• Suspension properly adjusts
• 3D printed mounts, wheel,
shocks, and frame
• Shocks allow for a smooth
ride and keeps bounce
through the system low
• Pro Trinket 5V reading the
long range receiver for user
commands
• Pro Trinket 5V reading 9-
axis-inertial measurement
unit to determine orientation
in space
• Motor speed controlled
directly with flight receiver
given user commands
• Motors mounted with servos
that rotate on two separate
planes to allow 2 degrees of
freedom
• Servo mounted beside the
motor allows rotation about
the roll axis
• Servo mounted on the
support allows rotation
about the pitch axis
• Together with the 2D
readings from the IMU, a 3D
thrust vector is created to
propel Ascension
• Two electronic speed
controllers, ESCs
• Converts the dc source from
the battery into a 3 phase ac
source to power the
brushless motors
• Speed of the motors will
vary based on the applied
voltage, 0 – 11.1V, user
controlled with the
transmitter
• 12V power supply from
ESCs to buck converter to
power all communications
with 5V and 2.5A
Ascension incorporates a Pro Trinket 5V processor as the master device and reads from a flight
receiver and 9-axis inertial measurement unit. It also uses two high torque airplane motors which
provide more thrust than low torque motors, two propellers, and a carbon fiber chassis for a
strong, light, and flexible frame.
Two Degrees of Freedom Communications
Power and Speed Controllers Mechanical
Final design of Ascension
