Princeton University Prospect Eleven Nov. 17, 2005 Mechanics Design and Fabrication of: Vehicle Actuators –Steering –Brakes –Transmission Sensor Housings –Stereo Camera –GPS Antennae System Protection –Shock-absorbing computers –Secure installation of components

Princeton University Prospect Eleven Nov. 17, 2005 Vehicle Actuators Steering –Motor from Bosch cordless drill. –Modified gears mounted directly to steering wheel. –Rotary encoder used for position feedback. Brakes –Bicycle brake cable used to depress pedal. –Motor-driven linear actuator. –Load-cell used for tension feedback. –Also: pneumatic e-brake, for fail-safe operation. Transmission –Ability to shift from forward to reverse. –Not used due to several issues: Slow actuation Difficulty interfacing with vehicle transmission Not open up an Achilles heel. Drill motor Steel Gears Rotary Encoder bike cable brake pedal motor Load cell

Princeton University Prospect Eleven Nov. 17, 2005 Sensor Housings Stereo Camera –Camera rated for “indoor office use only” !!! –Water & air tight enclosure –Mounts for photographic filters GPS Antennae –4 GPS receivers –Need good location on top of vehicle for best data. –Wooden boom also supported rotating beacon

Princeton University Prospect Eleven Nov. 17, 2005 System Protection Shock Absorption for computers. –Old way: Computers were wrapped in foam. –New way: Computers are rack-mounted on shock- isolating feet. Secure installation of other components. –Batteries, wires, power supplies, air compressor… –The “shake test” Shock-absorbing feet