STABILIZER SYSTEM Sponsor: Dr. Peyman Honarmandi SLAP Tech Andre Kerr, Pinhao Liang, Gabriel Pena, Shripal Shah 1

OVERVIEW ● Problem Statement and Purpose ● Background and Literature Review ● Functional Flowchart ● Design Concepts ● Detail Design ● Future work ● Q & A 2

PROBLEM STATEMENT AND PURPOSE Problem Statement: ● To create a universal stabilizer system to bring a person or object into level configuration. Budget: ● $500 3

PROBLEM STATEMENT AND PURPOSE Specifications: ● 2 Horizontal Plates ● Top Plate Stability Tolerance = 1 o ● Bottom Plate Max Angle = 42 o ● Meet ADA Standards and Building Code ● Stability Response Time (minor significance) ● System confined within dimensions of 45 cm x 45 cm x 45 cm 4

BACKGROUND AND LITERATURE REVIEW ADA Standards Wheelchair Specifications Height: 0.45 meters Width: 0.45 meters Length: 0.45 meters 2010 ADA Standards for Accessible Design 279 Pages Guidance on the 2010 ADA Standards for Accessible Design 170 Pages 5

BACKGROUND AND LITERATURE REVIEW 6

Patent Research Name: Multi-Terrain Motorized Wheelchair Apparatus Patent No.: US 8,789,628 B2 Date of Patent: July 29,

BACKGROUND AND LITERATURE REVIEW Stewart Platform 8

FUNCTIONAL FLOWCHART 9

FUNCTIONAL FLOWCHART Required Components Sensor Microprocessor Anti-Pitch Device Accelerometer ✔ Gyroscope ✔ Tilt Sensor Arduino ✔ Step Motor DC Motor Actuator ✔ 10

DESIGN CONCEPT Rejected Concepts 11

Upper Platform can roll along semicircular track to keep platform level via rollers. Actuator can allow forced movement of upper plate. Gears can be used as rollers* Racks can be used as tracks for control of platform* Bottom Plate Top Plate Track Rollers DESIGN CONCEPT Inverted Bridge (a.k.a. The One) 12

Inverted Bowstring-Truss Bridge Hell Gate Bridge (Triborough Bridge) Pros In the event of failure, system will self stabilizer to relatively level position. Precision control with the use of step motor connected to geared rollers. Cons Track extends higher than top plate at the corners. At high inclines distance between top plates is too large between plate, vice versa. DESIGN CONCEPT Inverted Bridge Cont. 13

DETAILED DESIGN Challenges faced: ● Starting trigger ● Friction ● Braking system ● Minuscule adjustment 14

DETAILED DESIGN Design Challenges Starting Trigger: Stall due to static friction Shock due to overcoming friction Friction: Resistance between plate and tracks 15

DETAILED DESIGN Design Challenges Cont. Braking system: Overshoot due to increasing velocity Stop at destination Minuscule adjustment: Accuracy of the system 16

DETAILED DESIGN Subsystem Decision Matrix 1 17

DETAILED DESIGN Subsystem Decision Matrix 2 18

DETAILED DESIGN Subsystem Decision Matrix 3 19

DETAILED DESIGN SolidWorks Models 20

21 DETAILED DESIGN Assembly

DETAILED DESIGN Plate Connecting to Track 22

DETAILED DESIGN Sketch Animation 23

24 DETAILED DESIGN Analytical Shear-Moment Diagram

25 DETAILED DESIGN FEM Analysis Bridge: MPa Top Plate: 33.7 MPa Bracket+Pin : MPa Wheel Attachment: MPa

DETAILED DESIGN Cost Analysis 26

FUTURE WORK Prototype Design: Manufacturing method Prototype Building Assembly of components Test Evaluation System performance Build Verification System improvement Gabriel 27

FUTURE WORK Gantt Chart (Semester 1) 28

FUTURE WORK Gantt Chart (Semester 2) 29

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Design Concept Concept 1 - Gyro-Ball Upper Plate Lower Plate Socket Ball Gyroscope 31

Concept 1 cont. Pros Smooth surfaces of the socket- and-ball allow smooth operation. The parts are mostly sealed to reduce the chance of user injury during operation. No sensor involved for critical function so more simple process. Cons Size is limited by the radius of socket-and-ball system. Lubrication is required between interface in the system and needs to be maintained. 32

Pros Simple configuration and structure Plenty of room between plates to incorporate entire system with ease. In case of maintenance, parts can be replaced easily. Cons Upon Failure system will tilt to down position. Multiple actuators may be required to overcome the high forces encountered. Design Concept Concept 2 - Actu-Link 33

Pros Simple Configuration Small movement of motor allows sensitive correction of pitch angle Cons Upon system failure, tilting to one side could occur Ball joints need lubrication and low coefficient of friction,may also require maintenance Design Concept Concept 3 - Mars Rover 34

35 DETAILED DESIGN Analytical Shear-Moment Calculation