Arson Robot Matt Boyden, Tim Crowley, Andrew Hollyer

PROBLEM STATEMENT Design and build a robot to assist in State Police arson investigations. The robot must be able to: navigate inside a burned building carry and protect a hydrocarbon sensor take samples of charred material

CURRENTLY AVAILABLE MANY VEHICLES ARE AVAILABLE MOST DO NOT PROVIDE ROOM FOR ADAPTION OF THE HYDROCARBON SENSOR VEHICLES ARE HIGH PRICED

KEY SPECIFICATIONS 1.Can travel over debris at an incline of up to 30° 2.Can travel under debris that is no less than 1½ ft above the driving surface 3.Can take samples of charred debris ranging in size from ash to small fragments of wood with a max weight of 2 lbs 4.Carries and protects hydrocarbon sensor 5.Controllable from a distance of up to 50 ft 6.Sample collector can be decontaminated 7.Under two feet wide 8.Light weight (under 60 lbs)

POSSIBLE SOLUTIONS TRACKED VEHICLE WITH UMBILICAL CONTROLS AND POWER AND A BUCKET FOR SAMPLING LARGE TIRED VEHICLE WITH ONBOARD BATTERY POWER AND A GRAPPLE FOR SAMPLING

MATRIX

ORDER OF OPERATIONS 1.BUILD A VEHICLE CAPAPLE OF MEETING THE SPECIFICATIONS 2.PROVIDE A MOUNT FOR THE HYDROCARBON SENSOR AND PROVIDE AN AUDIO FEED TO THE OPERATOR 3.ENABLE THE VEHICLE TO TAKE SAMPLES

EXPERIMENTS & CALCULATIONS Coefficient of friction ( μ ) =.8 Approximate Weight (w) = 56 lbs Hub Circumference (C) = 3 π in. Hub Radius (r) = 1.5 in. Desired Maximum speed (V) = 84 ft./min. Gearing Ratio (V R ) = 3:1 Axle Diameter σ = MC/I = 1210 psi use Dia = 3/8 in Force (F) required to move robot = μ w = (.8)(56 lbs) = 44.8 lbs Torque ( τ ) required to move robot = Fr = (44.8 lbs)(1.5 in.) = 67.2 in·lbs Rotational speed ( ω 1 ) at outside of hubs = CV = (3 π in.)(84 ft./min.) = 107 rad./min. Rotation speed ( ω 2 ) at motor = ( ω 1 )/(V R ) = rad/min Rotation speed (n) at motor in rpm = ( ω 2 )(180/ π ) = rpm Power (P) = ( τ )(n)/63,000 = (67.2 in·lbs)( rpm)/63,000 =.3 hp

RESEARCH & DESIGN RESEARCH DONE ON TRACK SYSTEMS SHOWED THIS SYSTEM AS A POSSIBLE SOLUTION

PARTS DESIGNED FOR THE TRACKS HUBS FOR THE TRACK MODELED IN INVENTOR TURNED ON LATHE AND KNURLED FOR FRICTION FOUR DRIVE HUBS, FOUR IDLERS

BUILDING THE VEHICLE MOTORS DONATED 12 VOLT 6 RPM 900:1 GEARBOX 90 in-lb TORQUE 2 AMPS

WIRING OVERVIEW FUSE SWITCH BATTERY MOTOR

VIDEO CLIP

STAIR TEST

NEXT GENERATION POSITIVE DRIVE TRACK SYSTEM LARGER DRIVE SHAFTS EASIER ALIGNMENT OF TRACKS LIGHTER AND BETTER BALANCED FRAME

CONCLUSION

THANKS TO: PROFESSOR SAM COLWELL ROV TECHNOLOGIES inc. OESCO inc Dr. DAWN CARLETON PROFESSOR PAUL JOHNSON PROFESSOR MARY WALDO