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

2. 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

3. 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

4. Mechanical
Our Proposal

5. Mechanical
Our Proposal

6. 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)

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

8. 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

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

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

11. 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

12. Mechanical
Questions