Team 16: Mechanical Engineering Dalhousie University Senior Design Project Supervisor: Dr....

Team 16: Mechanical Engineering Dalhousie University

Senior Design Project Supervisor: Dr. Warkentin Dec. 4th 2012

SOLO SOCCER TRAINER

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Introduction Project Background Not your average Launching Machine

Requirements

Criteria Initial Velocity Angles

Testing Phase One: Compression

Phase Two: Deformation

Analysis Compression Functions Energy Balance

Design Final Design Mechanical Electrical Safety

Conclusion Budget Further Considerations

AGENDA

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Intro Requirements Testing Analysis Design Conclusion

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TEAM ROSTER

NADA EL SAYED

Born: April 1, 1991

From: Port Said

Height: 5"10

Position: Striker

KEVIN BOUTILIER

Born: Nov. 12, 1989 From:

Williamwood Height:

6"1 Position:

Goalie

GREG PELLY Born: Oct. 10,

1989From:

Antigonish Height:

5"7 Position: Sweeper

JUSTIN COLWILL

Born: Apr 30 1990

From: L-town Height:

6“2 Position: Midfield

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PROJECT BACKGROUND

Oldest & Universal Sport

3.5 Billion Fans

Vital Component

Ref: 1,2,3

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o Penalty kick stat:

Only 12% goalie save rate!

Our project will attempt to aid in the solo soccer

training process to improve the chances of successfully saving a

goal.

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PROJECT BACKGROUND

Ref: 4

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HOW’S IT DIFFERENT??

o Many “sports” machines.

Ref: 5,6,7

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o Many “sports” machines.o Previous design projects.

Ref: 8,9

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o Many “sports” machines.o Previous design projects.

Differences: Largest object launched Only the goalie Randomized Automatic Self Feed


Ref: 10

DESIGN REQUIREMENTS

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10

IntroRequiremen

tsTesting Analysis Design Conclusio

n

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CRITERIAo The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center).

oThe device should be able to launch a soccer ball to a random order of set points.

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IntroRequiremen


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CRITERIAo The device should be able to launch a soccer ball to a random order of set points.

o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center).

o The device should be able to launch from the penalty line—36 ft (11 m) from net.

36 ft

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IntroRequiremen


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o The device should be able to launch a soccer ball in a random manner.

o The device should be able to launch the soccer ball into 5 set launch points (top left, top right, bottom left, bottom right and center).

o The device should be able to launch from the penalty line—36 ft (11 m) from net.

oThe device should be able to be set up by a single person.

oThe device should be transportable by truck and movable a single person.

oThe cost to build device should be no more than $2000 CND.

oThe device should operate at a reasonable shot interval of no more than 20 seconds.

oThe device should be safe.

CRITERIA

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IntroRequiremen


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Top Corners:V =19 m/sθ = 17°

Bottom Corners:V =18 m/sθ = 5° Side view

VELOCITIES & ANGLES

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IntroRequiremen


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VELOCITIES & ANGLES

36 ft

Top View

18° 18°

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TIMEOUT: GENERAL DESIGN IDEA

Soccer Ball

Dual Spinning

Disks

TESTING

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

17

Instron Machine

Measure Compression

Normal Force

PHASE ONE: COMPRESSION

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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0.00% 5.00% 10.00% 15.00% 20.00% 25.00% 30.00%0

2

4

6

8

10

12

f(x) = NaN x + NaNR² = 0

% Ball Compression vs. FN

Compression (%)

FN (

N)

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PHASE ONE: COMPRESSION

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19

Intro

Requirements

Testing

Analysis

Design

Conclusion

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PHASE TWO: DEFORMATION

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

Fpull

Ffriction

Fdeformation

(μs + κ)FN ≈ Ffriction + Fdeformation = Fpull


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Intro

Requirements

Testing

Analysis

Design

Conclusion

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1% 2% 3% 4% 5% 6% 7% 8% 9% 10%0

20

40

60

80

100

120

140

160

f(x) = 10028.5640387728 x² + 870.951979747877 x − 10.018551830704R² = 0.970400396853243

Deformation Force vs. Ball Compression

Exper-imental DataPolynomial (Experi-mental Data)

Compression (%)

Fdefr

om

ati

on (

N)


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Fdeformation ≈ function of the

shapes.

Ffriction ≈ function of materials.

FBD of kinetic system

TIMEOUT: DEFORMATION

RELATION

ANALYSIS

Intro

Requirements

Testing

Analysis

Design

Conclusion

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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DEAD CENTRE FBD

Fdeformation

Fkinetic

Fthrust = Fcoulomb + Fviscous

=βV

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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-15

-25

Friction vs. Velocity Model

FcoulombFviscousFtotal

Velocity (m/s)

Fri

ctio

n F

orc

e (

N)

FRICTION & VELOCITY

β slope

Ref 11 : US Dept of Transportation: Friction: Analytical and Field Investigation

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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∑Fthrust = ∑ Fcoloumb + ∑ Fviscous + ∑ Fdeformation

ΔW ba l l on t i re = – ΔW t i re on ba l l

Deformation Force

Coulomb Friction Force

Contact Distance

FORCES & WORK

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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ω i = 960 rpm

Vthrust = 20.5 m/s@ 18% Compression

REQUIRED RPM

DESIGN

Intro

Requirements

Testing

Analysis

Design

Conclusion

MECHANICAL

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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FINAL DESIGN

• Frame 1.5x1.5x.188 steel or

aluminum tubing

• Wheels

• Overall Dimensions: LxWxH

48"x40"x27"

• Motors

• Actuators

• Feed Mechanism

• Mobility Locking Wheels

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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MECHANICAL : TIRES

• Cheap energy storage• Radius effects width• Radius/Mass effect energy

𝐸=12𝐼 𝜔2

𝐼=𝑚𝑟2

2

• Rated at our speeds• Opportunity for tuning

Ref: 12

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

• Energy source• Shot recovery• Launch speed• 2 Motors (Spin?)

• AC (Plug In)• Electrically Reversible

(VFD)• 0-1800 RPM • 0.5HP

MECHANICAL : MOTORS

Ref: 13

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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MECHANICAL : ACTUATORS

Stroke

9”

Pitch

0° to 20°

Stroke

12”

Yaw

-23° to +23°

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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MECHANICAL : FEED

• Gear Motor• Lead Screw• Rail Design• Slider

DESIGN

Intro

Requirements

Testing

Analysis

Design

Conclusion

ELECTRICAL & CONTROL

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

CONTROL SYSTEM

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RANDOMLY SELECT

TARGET ON NET

MEASURE EXTENDED

LENGTH (PITCH ANGLE)

MEASURE EXTENDED

LENGTH (YAW ANGLE)

PARAMETER LOOK-UP TABLE:

LAUNCH MOTOR SPEEDYAW ACTUATOR LENGTH

PITCH ACTUATOR LENGTH

COMPARE ACTUAL

EXTENDED LENGTH TO

DESIRED VALUE(PITCH ANGLE)

MICROCONTROLLER LOGIC

OUTPUTS TO DRIVER SYSTEMS

SET LAUNCH MOTORS ANGULAR

VELOCITIES

SET YAW ACTUATOR EXTENDED

LENGTH

SET PITCH ACTUATOR EXTENDED

LENGTH

ENGAGE LOADING

MECHANISM(LEAD

SCREW)

SINGLE BALL IS

LAUNCHED

RETURN TO

START

START

COMPARE ACTUAL

EXTENDED LEGNTH TO

DESIRED VALUE(YAW ANGLE)

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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CONTROL FEEDBACK

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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SAFETY CONSIDERATIONS

• Emergency Stop.

• Safe Guarding.

- Tire Enclosure

- Electrical Enclosure

Ref: 14

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

ELECTRICAL

Part Unit Cost Quantity Total CostAC Motor VFD $120.00 2 $ 240.00

1/2 HP AC Motors $100.00 2 $ 200.00

10 A DC Motor Driver $15.00 3 $ 45.00

Arduino Due Microcontroller $50.00 1 $ 50.00

IR Distance Sensor $15.00 3 $ 45.00

Desktop PC Power Supply $50.00 1 $ 50.00

DIN Rail $10.00 1 $ 10.00

1/100 HP Gear Motor $50.00 1 $ 50.00

Electrical Enclosure $ 75.00 1 $ 75.00

Assorted Electrical Components

$ 150.00 1 $ 150.00

ELECTRICAL TOTAL

(with tax)

$ 1052.25

Intro

Requirements

Testing

Analysis

Design

ConclusionBUDGET: ELECTRICAL

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Intro

Requirements

Testing

Analysis

Design

Conclusion

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MECHANICAL

Part Unit Cost Quantity Total CostGear Motor Loan 1 $ 0.00

12" Stroke Linear Actuator Loan 1 $ 0.009" Stroke Linear Actuator Loan 1 $ 0.0016" Drive Wheels $ 40.00 2 $ 80.00 Heavy Duty Turn Table (non-lockable)

$ 65.00 1 $ 65.00

Mobility Tires $ 17.00 4 $ 68.00 Assorted Hardware $ 120.00 1 $ 120.00 Lead Screw $ 12.00 1 $ 12.00 1.50" x 1.50" x 1/8" Square Tubing

$ 47.00 2 $ 94.00

Frame Paint $10.00 1 $ 10.00 MECHANICAL TOTAL

(with tax)$ 516.35

Grand Total (with shipping) $ 1803.89

Intro

Requirements

Testing

Analysis

Design

ConclusionBUDGET: MECHANICAL

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

- FEM Analysis.

- Building.

- Physical Testing.

-Practise, Practise, Practise!

FURTHER CONSIDERATIONS

Ref: 4

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

- One of a kind device.

- No need for “extra” user.

-Random

-Automatic

-Self Feed

- Ample initial testing.

- Great challenge for the winter!

- Website & Contacthttp://poisson.me.dal.ca/~dp_12_16/

SUMMARY

http://poisson.me.dal.ca/~dp_12_16/

THANKS TO :

Mechanical Engineering DepartmentShell CanadaDr. Militzer

Dr. Warkentin

SPECIAL THANKS TO :

Dr. Bauer Blair Nickerson

Jesse KeanePeter Jones

John Macdonald

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Navigation

1. http://multipletext.com/2011/8-soccer-in-ancient-

china.htm

2. http://soccerstl.net/2012/09/28/slu-billikens-host-

uca-for-homecoming-saturday/slu-billikens-

soccer-fans/

3. http://tallhorsewines.wordpress.com/

2010/04/21/soccer-goalies-should-wear-red/

4. http://www.footy.dk/2012/09/26/video-arets-

redning/soccer-goalie-trying-to-block-goal/

5. http://www.justbaseball.us/Qstore/Qstore.cgi?

CMD=011&PROD=1129084852

6. http://www.sports-inter.com/en/football/jugs-

football-machine-6662.details.html

7. http://www.fitness-sports.co.uk/tennis/TENNIS-

TNTM-2.html

8. http://poisson.me.dal.ca/~dp_11_02/

9. http://poisson.me.dal.ca/~dp_08_06/

10. http://www.academy.com/webapp/wcs/stores/

servlet/Product_10151_10051_347881_-1

11. http://www.fhwa.dot.gov/publications/research/

infrastructure/bridge/05083/appendf.cfm

12. http://www.canadiantire.ca/AST/browse/4/Auto/

Towing/TrailerTires.jsp

13. http://www.gallantmotor.com/acvsdc

14. http://banat4today.blogspot.ca/2011/09/boys-will-

be-boys.html

15. http://www.cox.com/support/cable/

nopic_gothere.asp

16. http://www.google.com.ng/local/trader/listing/-/

6ad652a88a7f42ec/_b7b61055202e8df1_

REFERENCES

QUESTIONS?

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

IntroductionProject Background (#4&5)

Not your average Launching Machine (#8)

RequirementsCriteria (#10-12)

Initial Velocity & Angles (#13 &14)

TestingPhase One: Compression (#16 &17)

Phase Two: Deformation (#18-20)

Friction (#25)

Backup Slides

AnalysisKinetic FBD (#22-24)

Energy Balance (#26-27)

DesignFinal Design (#29)

Mechanical (#30 - 33)

Electrical (#34 - 37)

Safety (#38)

ConclusionBudget (#39 & 40)

Further Considerations (#41)

Summary (#42)

NAVIGATION TABLE

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

Kinematic EquationsTop Corner AnalysisBottom Corner AnalysisDrag Thrust ForceAC VFDDC DiagramCustom HubAC Power

BACK UP SLIDES

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

KINEMATIC EQUATIONS

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

• Availability at test locations

•Cost

WHY AC POWER??

Ref: 15, 16

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

-0.8 0.2 1.215161718192021222324

57911131517192123

Launch Height vs. Launch Velocity & Angle

Initial VelocityAngle of Launch

Launch Height (m)

Init

ial

Ve

loci

ty (

m/s

)

An

gle

of

Lau

nch

(d

eg

)

TOP CORNER ANALYSIS

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

BOTTOM CORNER ANALYSIS

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 118.8

19

19.2

19.4

19.6

19.8

20

0

2

4

6

8

10

Launch Height vs. Launch Velocity and Angle

Initial VelocityAngle of Launch

Launch Height (m)

Init

ial V

elo

city

(m

/s)

An

gle

of

Lau

nch

(D

eg

)

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

DRAG

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 218

18.5

19

19.5

20

20.5

21

21.5

22Ball Velocity with Drag vs.

Time

Time (s)

Ball

Velo

city

(m

/s)

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

THRUST FORCE EQUATIONS

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

THRUST FORCE ANALYSIS

0 5 10 15 20 250

500

1000

1500

2000

Ball Diameter vs. Fthrust

Ball Diameter (inch)

F t

hru

st (

N)

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

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AC VFD

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

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DC DIAGRAM

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Intro

Requirements

Testing

Analysis

Design

Conclusion

Extra Info

Navigation

MECHANICAL : HUB

Team 16: Mechanical Engineering Dalhousie University Senior Design Project Supervisor: Dr....

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