Preliminary Chassis Design Mechanical Group Anirudha Jagtap Zachary Omohundro Christian Reed Charlie Reverte

Mechanical Requirements for iMap Robot Deployment through a 10” borehole Explosion proof Untethered Teleoperated Semi-submersible and rugged Traverse obstacles up to 8” Carry mapping capabilities Reasonable range Design and build time <50 days Disposable

Mechanical Previously Discussed Options Synchro Drive Tripod Magellan Too complicated Inefficient use of space Not robust enough Non-modular design Poor payload characteristics Magellan Requires expandable wheels Multiple segments to explosion-proof

Mechanical Our Proposal

Mechanical Our Proposal

Mechanical Original Proposal Differential drive with reaction tail Purged and pressurized to achieve explosion-proofness Amphibious operation Expandable, transparent payload volume Ability to traverse 8” obstacles Redundant gimp mode Flexible sensor selection (Laser, Light Striping, Sonar)

Mechanical Chassis, Original Proposal Clear, polycarbonate tube Drive motors and batteries mounted on end caps Payload mounted on internal rails

Mechanical Drivetrain, Original Proposal Drive wheels pivot out from body Increases ground clearance Fascilitates climbing Pivot motor provides backup locomotion Drive and pivot motor shafts coaxial through marine bearings

Mechanical Tail, Original Proposal Stores flush to frame for deployment One degree of freedom through two spaces Assists in climbing obstacles

Mechanical New Proposal Two cylinder robot Improved stability Increased payload Increased range

Mechanical New Specifications Two Cylinder design Four identical cylinder end-caps Two payload sections Not necessarily the same length Current Estimates (per Cylinder) Diameter – 8” Body, 9” Wheels Length – 6” End-caps, 10” Payload section Weight ~ 50lbs Battery Weight ~ 10lbs Energy ~ 750Wh Energy Density ~ 15Wh/lbs Power ~ 75 Watts Computer ~ 20 Watts Drive ~ 30 Watts Sensors ~ 15 Watts Communications ~ 10 Watts Speed ~ ¼ mph Range ~ 2.5 miles round trip, 1.25 miles straight line

Mechanical Questions