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Team 3: Achieving Mobility. Matt Last, Rob VanderVennen , Matt Rozema , Dan Evans. Outline. Project Definition Design Final Product Conclusions Questions. Introduction. Isaac Postma Spinal Muscular Atrophy Physical Limitations Current Transportation . Project Definition. - PowerPoint PPT Presentation
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TEAM 3: ACHIEVING MOBILITY
Matt Last, Rob VanderVennen, Matt Rozema, Dan Evans
Outline Project Definition Design Final Product Conclusions Questions
Introduction Isaac Postma Spinal Muscular Atrophy Physical Limitations Current Transportation
Project Definition Design an electric wheelchair that the individual can
control while lying down Two operational modes:
Manual (attendant-controlled) Electric (user-controlled)
Touchpad controlled driving system LED system indicating possible directions One camera and monitor for user vision
Major Design Decisions Motor control hardware topology Feedback type User interface Power regulation safety Structure affected by other component designs Customer requests
Component Design Power regulation
Fuse Overvoltage protection Cooling fan Heat sinks
Component Design Motor Control
2 separate motor controllers 1 electronic control unit (ECU)
Component Design Software
User Interface controlled by ECU Directional state machine Closed loop voltage control of motors CAN, UART, GPIO, Timer, and Watchdog peripheral drivers provided by Stellaris
Component Design Motors
Provide necessary torque to move the wheelchair and user Required to handle:
○ 450 lb maximum weight (user + stroller)○ ± 5° incline/decline○ 3.5 mph max speed
Minimum motor specifications to meet requirements above:○ Power: 0.243 hp○ Torque: 3.22 ft-lb
Component Design Brakes
Electric brakes○ Controlled by software○ Triggered by releasing the touch button
Mechanical brakes○ Controlled by attendant pushing wheelchair○ Consist of hand lever and rim brake (bicycle
brake)
Parking Brakes○ Lock each wheel in place○ Manual lever system
Emergency Brake○ Provide immediate motor stoppage during
emergencies○ Triggered by a simple on-off switch
Component Design Mounting
LCD Touch Button Camera Brakes Motors
Component Design Structure
Adjustable length Storage Material: Aluminum 6063-T6
Final Design
Final Design
40 45 50 55 60 65 70 75 80 850
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Motor Current and Voltage as a Function of Time
CurrentVout
Time (sec)
Mea
sure
men
t Uni
t (V
or A
)
Final Product
Final Product
Significant Issues Funds Schedule Limited manufacturing capabilities
Conclusion Interacting with an actual customer Working with outside companies Scheduling and budgeting Documentation and testing Finalist in RESNA
competition
Acknowledgements Professor VanderLeest Professor Brouwer Carole Pettijohn (Ivanrest Church) Russel Ramsay (Texas Instruments) Tim Theriault (Industrial Consultant) Greg Bush (Gentex) Jim Nammensma (Ebling & Son)
Questions?