Mobility: Stair Navigation and Turning Team MIEUX – ASME Design Competition September 23, 2004...
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Transcript of Mobility: Stair Navigation and Turning Team MIEUX – ASME Design Competition September 23, 2004...
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