Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires...
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Transcript of Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires...
![Page 1: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/1.jpg)
Brainstorming VI
Ville RahikkaJuuso Kinnunen
![Page 2: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/2.jpg)
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
![Page 3: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/3.jpg)
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
![Page 4: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/4.jpg)
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
![Page 5: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/5.jpg)
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
![Page 6: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/6.jpg)
Air muscles
• Length: 210mm• Pull at 50 Psi: 12 kg• Max. Pull: 20kg
![Page 7: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/7.jpg)
Electric air compressor example• 260x110x150mm• Max. Pressure: 42 Psi• W: 4kgs• N: 65 Db
![Page 8: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/8.jpg)
Quick force calculation
• Result 10 Nm
![Page 9: Brainstorming VI Ville Rahikka Juuso Kinnunen. Power source Electricity: ofor motor driving tires oSmall battery for emergencies Pressure: ofor trunk.](https://reader035.fdocuments.us/reader035/viewer/2022072016/56649ef05503460f94c00be0/html5/thumbnails/9.jpg)
Approximate robot weight
• Compressor 5 - 8kg• Motor 1 kg• Body 5 kg• Arm 5 - 8 kg• Telescopes 3 kg• Total ~25 kg