1. Collisionless Rimless Wheel (wired)
Team 13211
Faculty Guide:
Edward Hanzlik
Customer:
Dr. Mario Gomes
Sponsor:
FEAD Grant
edge.rit.edu/edge/P13211/public/Home
Team members (from left to right)
Owen Accas – ME
Hao Shi – ME
Madeline Liccione – EE
Dan Crossen – ME
Becky Irwin – EE
Original Prototype
Project Description
Current robot technology that aims to mimic the walking motion of humans is very inefficient; energy is lost when the robot's feet collide with the ground with each step. Dr. Gomes and his team of graduate students have successfully modeled and constructed a prototype that proves it is possible to reduce the Cost of Transport (CoT) by removing the "wheel" and involving periodic transfer of mechanical energy between an inner wheel and outer frame. The current prototype can walk down an 8 degree incline ramp if the initial condition is met; i.e. if the inner wheel is wound up to the exact angle that causes the system to move almost perfectly periodic. The task is to add a motor, and thus, control system, that will add energy at the correct time in the periodic arc to continuously propel the robot across a level surface for at least 40 consecutive trials while recording mechanical and electrical data from various parts of the system during each trial.
Design
Proposed Model
Engineering Specifications
Time Line
Brainstorming – week 1 thru week 4 MSD I
Narrowing designs – week 5 thru week 7 MSD I
Finalization of design / CAD – week 10 MSD I
Parts ordering begins – week 11 MSD I
90% of parts in hand – week 4 MSD II
1st prototype – week 5 MSD II
Final Design built – week 7 MSD II
Debugging / redesigning – week 7 thru week 10 MSD II
Good/completed
On track for completion
Not good/will not complete
Build/Assemble
Final iteration built – week 10 MSD II
Finalization of yellow items – week 11 of MSD II
Final Product
Mechanical Frame
Carbon Fiber wrapped foam frame plates
3/8” Hardened steel shaft attached in line with the motor through a flexible coupling
21.5” aluminum bike wheel rigidly attached to axle
Remaining items are mainly self machined aluminum/steel/brass parts
Final Product
Electrical Equipment
3.8 watt motor providing .2 N-m of torque with attached .25 degree resolution encoder
2 gyroscopes for measuring angular velocity of frame and bike wheel
18 AA batteries bolted to outside of bike wheel
2 Dual Package Op Amps for measuring current and voltage of motor and electronics circuits
Acknowledgements
Professor Carl Lundgren
Dr. Bowman
Professor George Slack
David Herrera
Geoff Bastion
Dr. Becker-Gomez
Dr. Patru
Dr. Mario Gomes
Professor Edward Hanzlik