The Design and Construction

1
Team 14 The Design and Construction of an
Ackerman-Steered Robot Members Kyle Quinn
Julio Sosa Robert Steel Trevor Woods
2
Overview

• Introduction
• Final Design
• Suspension
• Drive Line
• Motor Layout and Gearboxes
• Overall Layout
• Finite Element Analysis
• Adams Model
• Cost Analysis
• Spring Plans

3
Introduction

• Project Scope
• Research Robot
• All-terrain capabilities
• Accommodates Sensors and Hardware
• Front and Rear Ackerman Steering
• Client
• CISCOR

4
Suspension

• Double Wishbone
• Single Strut per Wheel
• Fabricated Arms

5
Drive Line

• Telescoping Universal Drive Shaft

6
Steering Linkage

• Rack and Pinion
• Threaded Rod with Tie rods

7
Overall Layout

• Front and Rear Symmetrical
• Controllers in Rear
• Motors Parallel to Frame
• Batteries Around Frame

8
Finite Element Analysis
9
Finite Element Analysis (cont.)
Maximum Displacement of 0.0169"
Maximum Displacement of 0.0197"
10
Adams Model
11
Adams Model
12
Adams Model
13
Future Plans

• Get final Approval from Ciscor
• Order Parts
• Send Parts out for Fabrication
• Assembly
• Wiring/ Programming
• Testing

14
References

• Hibbler, R. C. 1993. Statics and Mechanics of
  Materials Second Edition. Prentice Hall. pp.
  139-177, 209-225, 511-537, 673-697.
• Logan, Daryl L. 2007. A First Course in the
  Finite Element Method. Thomson. pp. 65-80
• Staniforth, Allan. Competition Car Suspension
  Design, Construction, Tuning. Newbury Park
  Haynes Publishing, 1999.
• Stone, Richard, and Ball, Jeffrey K. Automotive
  Engineering Fundamentals. Warrendale Society
  of Automotive Engineers, 2004.
• "About Pro/MECHANICA." Pro/MECHANICA Help. PTC.
  29 Nov. 2008 lthttp//proe.ippd.ufl.edu/wildfire/h
  tml/usascii/promec/start.htmgt.
• Car Bibles The Car Suspension Bible Car
  Bibles. 15 October 2008
• lthttp//www.carbibles.com/suspension_bible.htmlgt
  
• "Pro/ENGINEER Mechanica." Pro/ENGINEER Mechanica
  - PTC.com. PTC. 29 Nov. 2008 lthttp//www.ptc.com/
  products/proengineer/mechanicagt.

15
Acknowledgements

• Center for Intelligent Systems Control and
  Robotics
• Dr. Emmanuel Collins
• Dr. Patrick Hollis
• Dr. Oscar Chuy
• Damion Dunlap
• Dr. Chiang Shih
• Dr. Daudi Waryoba
• Donald Hollett
• Hobbytown USA

16
Questions?