1. 1 Group 11- ASME Design Competition Alicia Christie Desmond Bourgeois Toddrick Ruff

2. 2 Over View Introduction Needs Assessment and Product Specification Concept Generation Prototyping Final Design Manufacturing and Assembly Testing Cost Analysis Conclusion Recommendations / Improvements Acknowledgement

3. 3 Introduction Score S = Σ (R*t) +1000P - W - A - 1000T – 5s R = designated rock score t = target multiplier W = Weight of the vehicle in grams A = milliamp-hours available to the device according to the battery labels T = Times device touches border tape s = seconds to complete task, maximum 240 P = bonus for parking vehicle at end of task (1 = parked, 0 = not parked) 2 – 1700 pt rocks 1 – 1600 pt 2 - 1500pt 2 – 1000pt Schematic of Test Course

4. 4 Needs Assessment / Product Specification Must fit into a box 6.5 x 6.5 x 14.5 in Needs to have the ability of picking up rocks ranging from 2 to 4 cm Deliver rocks to receiving area with accuracy Climb over 3.5 in high barriers Stay in bounds and maneuver around obstacles ROBOT Collection and Transportation Maneuver over obstacles swiftly Ejection of rocks

5. 5 Stair Climbing Robot - Mechatronics, Ariel University Center Zaurus Spiral Stair Climber Packbot Front-end Loader Phoenix Mars Lander Robotic Arm Concept Generation – External Sources

6. 6 Maneuver over obstacles swiftly Ramp Carrying Robot Tank Drive Individual Tank Treads Expandable legsFront Spiral Concept Generation – Internal Sources

7. 7 Collection and Transportation of rocks Chassis DropRobotic ArmStreet SweeperAir Jets Dropping off rocks in receiving area Dump Truck Style Trap DoorsSingle Door Concept Generation – Internal Sources

8. 8 Final Design- Collector / Expandable Body Vampowerpro continuous rotation servo

9. 9 Final Design- Controls / Electronics Original Transmitter Receiver Modified Transmitter Speed Controllers Motors

10. 10 Final Design- Drive Train Inner Shaft Outer Shaft Idle Gears Belt Y-Brace Pinion Pulley Wheel Gear Assembly Motor Shaft Gear Y-Brace Shaft Gear = LOCKED COMPONENT Inner Shaft Outer Shaft T ratio=Driven/Drive Common shaft gears = 1:1 Gears in series = No torque increase

11. 11 Final Design- Drive Train

12. 12 Manufacturing and Assembly Used a Dremel Tool for rock collector, knife modifications, and for modifications to the platform to attach the expandable body Motor mounts, platform, rear and front drive axel, Y-brackets, and false floor made or modified in machine shop Utility knife for removing material from wheels and wires Screw drivers Allen Wrenches Super Glue Mighty Putty 3-56 screws Needle Nose Pliers

13. 13 Testing- Rock Collector Conduct strain and force analysis requirements Assemble rock collector Engage servo Load doors with rocks Test Results

14. 14 Testing: Electrical Components Sizing Batteries –Motor Test Simulated Load Test Strobe Light RPM rating –Milliamp hour calculation Total: 1500 mAh Wiring Test –Peg board setup Component Synchronization Radio Transmitter/Receiver

15. 15 Testing- Drive Train Trial1 Fully assemble robot (motors, mounts, belts, etc.) Check belt and pulley alignment Check belt tension Check for collisions of parts Engage drive motors Trial 2 Reiteration of Trial1 Trial 3 Reiteration of Trial1 Test Results Trial1 = Binding of shafts Trial 2 = Binding of shafts Trial 3= Binding of shafts

16. 16

17. 17 Conclusion Ideal AlignmentActual Alignment Belt Tension Clearance Concentration of Belt Force and Friction Front View Side View = LOCKED COMPONENT Belt Tension

18. 18 Motor W/ More Torque Recommendations Possible Mechanical Modification Utilize ball bearings (Uniform and reduced friction distribution) Employ chain and sprocket sets (Reduced radial load) Incorporate gear box at motor (Increased torque input) Take advantage of compound gear train nature, Larger pinions on lower innermost pinions (Increased torque) Possible Electrical Modification Incorporate motors with more torque (servos are a possibility) Size down batteries to calculated values ( Score increase) Larger Pinion SprocketsChain Ball Bearings Desired Configuration

19. 19 Acknowledgements Sponsors American Society of Mechanical Engineers Boeing Individuals Dr. Carl Moore Dr. Dave Cartes Dr. Chiang Shih Dr. Daudi Waryoba