The Design and Construction of an Ackerman-Steered Robot Team 14: The Design and Construction of an Ackerman-Steered Robot Members: Kyle Quinn Julio Sosa Robert Steel Trevor Woods

Overview Introduction Design Concepts Suspension Analysis Motor Layouts Cost Analysis Conclusion Planned Future work

Introduction Goal Specifications Create an autonomous Ackerman steered robot. Specifications Ackerman steering 4 wheel drive Independent suspension Equipment mounts

Design Concept Ackerman Steering Based on RC Car Steering Inner Wheel Turns at Greater Angle than Outer Based on RC Car Steering Steering Driven Directly by Motor Tie Rods Connect all Linkages to plate/knuckle

Design Concept (cont.) 10.5” OD Tire 4”x4” Wheel Live Axle Go Cart Hub Double A Arm Suspension Long Knuckle Design U Jointed Drive Shaft Implement Strut Tower Team Losi 10.5” OD Tire 4”x4” Wheel Live Axle Go Cart Hub

Suspension Analysis Frame – 18.5”x36”x6” Wheel track – 30” CG ~ 12” Ground clearance – 5” Control arm has fixed mounting points Want to keep roll center low Long knuckle Lower ball joint height – 3.75” Ideal scrub radius – 0 Camber set to zero Kingpin angle – 13.0° Toe and caster - 0

Suspension Analysis (Cont.)

Motor Layout

Cost Analysis

Motor Analysis

Double A Arm Suspension Immediate Goals Conclusions Ackerman Steering Double A Arm Suspension Immediate Goals Choose Struts Resolve Design Issues Adams Analysis

Future Plans

References Longhurst, Chris. Car Bibles; The Car Suspension Bible. 2008. 6 Nov 2008 http://www.carbibles.com/suspension_bible.html. Stone, Richard, and Jeffrey Ball. Automotive Engineering Fundamentals. SAE International, 2004.

Acknowledgements CISCOR Dr. Patrick Hollis Employees at Hobbytown, USA Jackson Cooke

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