1. Preliminary Design Review 6:  Concept Revision  Chassis Design Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ AME 470: Senior Design ASME Bulk Material Transporter Matt Bertke, Paul DeMott, Patrick Hertzke, Will Sirokman 30 September 2004

2. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ CONCEPT REVISION What went wrong? Two lifting actions were required from the single swing-arm: Lift one required the arm axis to be behind the center- of-mass. Lift two required the arm axis to be in front of the center-of-mass. THIS CANNOT BE ACHIEVED WITH A CONSTANT CENTER OF MASS!!!

3. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ CONCEPT REVISION  Original swing arm is repositioned and reoriented Axis moved farther forward to improve mechanical advantage Rotates opposite direction due to space concerns  Additional swing arm at rear of vehicle Driven by same motor as the original swing arm through additional gear train Originates in same phase as other arm but turns in opposite direction Allows proper mechanical advantage for second lifting phase How do we fix it?

4. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ CHASSIS DESIGN  Frame rails house wheels and axle bearings Single rail on either side of each tread houses wheel and swing-arm bearings Creates ridged wheel-rail assembly  Cross members attach each wheel-rail assembly Strategically located to maximize frame rigidity Provide attachment points for motors, electronics, and rice container.

5. Senior Design: Team Burja _______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ CHASSIS MATERIALS  Aluminum Frame rails and Cross members Lightweight Necessary Strength Easily Machined Ability to be tapped for threaded fasteners