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

Introduction Final Design  Suspension  Drive Line  Motor Layout and Gearboxes  Overall Layout Finite Element Analysis Adams Model Cost Analysis Spring Plans Overview

Project Scope  Research Robot  All-terrain capabilities  Accommodates Sensors and Hardware  Front and Rear Ackerman Steering Client  CISCOR Introduction

Double Wishbone Single Strut per Wheel Fabricated Arms Suspension

Telescoping Universal Drive Shaft Drive Line

Steering Linkage Rack and Pinion Threaded Rod with Tie rods

Overall Layout Front and Rear Symmetrical Controllers in Rear Motors Parallel to Frame Batteries Around Frame

Finite Element Analysis Physical properties assigned to steel within the Pro/ENGINEER software package. Steel Poisson’s Ratio 0.27 Density lbm/in^3 Young’s Modulus 2.9e7 psi Physical properties assigned to aluminum within the Pro/ENGINEER software package. Aluminum 2014 Poisson’s Ratio 0.33 Density 0.1 lbm/in^3 Young’s Modulus 1.06e7 psi

Finite Element Analysis (cont.) Maximum Displacement of "Maximum Displacement of "

Adams Model Tire Unloaded Radius 5.25 in Wheel Mass2.25 lbm Sprung Mass150 lbm CG Height12 in Wheelbase30 in Drive Ratio50/50 Brake Ratio50/50 Suspension Position Front

Adams Model

Future Plans  Get final Approval from Ciscor  Order Parts  Send Parts out for Fabrication  Assembly  Wiring/ Programming  Testing

Hibbler, R. C “Statics and Mechanics of Materials: Second Edition”. Prentice Hall. pp , , , Logan, Daryl L “A First Course in the Finite Element Method”. Thomson. pp Staniforth, Allan. Competition Car Suspension: Design, Construction, Tuning. Newbury Park: Haynes Publishing, Stone, Richard, and Ball, Jeffrey K. Automotive Engineering Fundamentals. Warrendale: Society of Automotive Engineers, "About Pro/MECHANICA." Pro/MECHANICA Help. PTC. 29 Nov “Car Bibles: The Car Suspension Bible” Car Bibles. 15 October 2008 "Pro/ENGINEER Mechanica." Pro/ENGINEER Mechanica - PTC.com. PTC. 29 Nov References

Center for Intelligent Systems Control and Robotics Dr. Emmanuel Collins Dr. Patrick Hollis Dr. Oscar Chuy Damion Dunlap Dr. Chiang Shih Dr. Daudi Waryoba Donald Hollett Hobbytown USA Acknowledgements

Questions?