View
214
Download
1
Tags:
Embed Size (px)
Citation preview
Arson Robot
Matt Boyden, Tim Crowley, Andrew Hollyer
PROBLEM STATEMENT
Design and build a robot to assist in State Police
arson investigations. The robot must be able to:
• navigate inside a burned building
• carry and protect a hydrocarbon sensor
• take samples of charred material
CURRENTLY AVAILABLE•MANY VEHICLES ARE AVAILABLE
•MOST DO NOT PROVIDE ROOM
FOR ADAPTION OF THE
HYDROCARBON SENSOR
•VEHICLES ARE HIGH PRICED
KEY SPECIFICATIONS1. Can travel over debris at an incline of up to 30°2. Can travel under debris that is no less than 1½ ft
above the driving surface3. Can take samples of charred debris ranging in size
from ash to small fragments of wood with a max weight of 2 lbs
4. Carries and protects hydrocarbon sensor5. Controllable from a distance of up to 50 ft6. Sample collector can be decontaminated7. Under two feet wide8. Light weight (under 60 lbs)
POSSIBLE SOLUTIONS
•TRACKED VEHICLE WITH UMBILICAL CONTROLS AND POWER AND A BUCKET FOR SAMPLING
•LARGE TIRED VEHICLE WITH ONBOARD
BATTERY POWER AND A GRAPPLE FOR
SAMPLING
MATRIX
Travels over debris
Travels under debris
Can take samples
Carries hydrocarbon sensor
Controllable fro
m a distance
Will not ti
p over
Can be decontaminated
Less than tw
o feet w
ide
Under 60 lb
s
Total
Tracked Vehicle w/ Umbilical power and controls and bucket
5 5 5 5 5 4 5 5 5 44
Balloon Tires w/ onboard battery and a grapple
3 5 5 5 5 3 5 5 5 41
Scale is from 1 - 5, 5 is best, 1 is worst
ORDER OF OPERATIONS
1. BUILD A VEHICLE CAPAPLE OF MEETING THE
SPECIFICATIONS
2. PROVIDE A MOUNT FOR THE HYDROCARBON
SENSOR AND PROVIDE AN AUDIO FEED TO
THE OPERATOR
3. ENABLE THE VEHICLE TO TAKE SAMPLES
EXPERIMENTS & CALCULATIONSCoefficient of friction (μ) = .8
Approximate Weight (w) = 56 lbs
Hub Circumference (C) = 3π in.
Hub Radius (r) = 1.5 in.
Desired Maximum speed (V) = 84 ft./min.
Gearing Ratio (VR) = 3:1
Axle Diameter σ = MC/I = 1210 psi use Dia = 3/8 in
Force (F) required to move robot = μw = (.8)(56 lbs) = 44.8 lbs
Torque (τ) required to move robot = Fr = (44.8 lbs)(1.5 in.) = 67.2 in·lbs
Rotational speed (ω1) at outside of hubs = CV = (3π in.)(84 ft./min.) = 107 rad./min.
Rotation speed (ω2) at motor = (ω1)/(VR) = 4.908 rad/min
Rotation speed (n) at motor in rpm = (ω2)(180/π) = 281.25 rpm
Power (P) = (τ)(n)/63,000 = (67.2 in·lbs)(281.25 rpm)/63,000 = .3 hp
RESEARCH & DESIGN
RESEARCH DONE ON TRACK SYSTEMS SHOWED THIS SYSTEM
AS A POSSIBLE SOLUTION.
1 2 3 4
PARTS DESIGNED FOR THE TRACKS
HUBS FOR THE TRACK
•MODELED IN
INVENTOR
•TURNED ON LATHE
AND KNURLED FOR
FRICTION
•FOUR DRIVE HUBS,
FOUR IDLERS
BUILDING THE VEHICLE
MOTORS DONATED
•12 VOLT
•6 RPM
•900:1 GEARBOX
•90 in-lb TORQUE
•2 AMPS
WIRING OVERVIEW
FUSE
SWITCHSWITCHBATTERY
+ -
BATTERY
+ -
MOTOR MOTOR
VIDEO CLIP
STAIR TEST
NEXT GENERATION
• POSITIVE DRIVE TRACK SYSTEM
• LARGER DRIVE SHAFTS
• EASIER ALIGNMENT OF TRACKS
• LIGHTER AND BETTER BALANCED FRAME
CONCLUSION
THANKS TO:
• PROFESSOR SAM COLWELL
• ROV TECHNOLOGIES inc.
• OESCO inc
• Dr. DAWN CARLETON
• PROFESSOR PAUL JOHNSON
• PROFESSOR MARY WALDO