1. Service Robots A Tire Changing Manipulator

2. Overview n The robotic System changes the tires of Formula 1 type cars. n Considerations: Speed, Accuracy, Safety. n The system consists of four arms (one arm per tire), each changes a tire at a time. The arm removes the used tire and replaces it with the new one. n A fifth arm is designed to fill the car with gas, its design differs considerably from the other four. n All the five arms are to be controlled by a hardware dedicated LAN, consisting of one computer per robot arm plus a server and a general analyser.

3. Design and Construction n A prototype of the racing car :

4. n The “one screw” tire style simplifies the problem considerably. n The four holes facilitate the manipulation of the tire and the screwing/unscrewing process. Design and Construction

5. n The manipulator will be of the depicted form. The design was derived from inertial and dextrousity calcuations n Three essential Components: the sliding mechanisn, the arm, and the end effector system.

6. Design and Construction n All of the four arms should be suspended with the visualized sliding mechanism.

7. Design and Construction n The end effector is designed to support the tire replacement task.

8. Design and Construction n The third gripper style facilitates the replacement task via the four metal tube.

9. Current Status n The design and simulation have been done. n Equations of inertia, vibrations, torques, and forward kinematics are used. Appropriate arm materials are being considered.

10. Key Advantages n This type of robotic system would replace the team required at each pit stop. n The risk factor will be reduced significantly. n Races will be more fair. Arms will change tires on different model cars within an estimated 0.3 second tolerance variance. n Dependance on team accuracy and training is eliminated. n The cost of this system is lower than the current team-based systems.

11. Next Steps n Presentations of the project have to be made, and further discussions regarding Formula 1 regulations and enforcements have to take place. n The fifth arm still has to be designed and integrated.