ME Crawler

1
ME Crawler

• Ryan Irwin, Jake Brandspigel, Chris Colasanti,
  Bob Mulfinger, Scott Holland

2
Objectives

• Mechanical Platform
• Robust
• Flexible compatibility
• 1½ - 3 mph and Curb climbing ability
• Moderate Terrain
• Moderate Conditions
• Minimum 30 min. run time

3
Crawler Layout Considerations

• Overall Shape
• Ideal for climbing stairs
• Modular to fit size restrictions
• Removable tracks
• Narrow enough to fit through doorways
• Road Wheels added
• Base Layout
• Skid Plate
• Battery/Motor/Electronics location
• Two Levels
• 1st for crawler guts
• 2nd for ME 462 electronic components (¾ plywood)

4
Current Crawler Drawing
5
Drive Train

• Belts
• 85 long, 3 wide
• ½ pitch double-sided
• Pulleys
• 3 4 diameter timing pulleys
• Shaft
• ½ keyed steel shaft
• Drive
• Chain drive to rear pulley through 21 ratio

6
Electrical Design

• 24V Victor 883 Motor Controller
• Built in cooling fan
• Handles up to 60 continuous amps
• Typical RC motor controls
• 9-pin input connection from processor to motor
  controller
• Kill Switch for quick power cutoff

7
Electrical Schematic
8
Motors

• Power needed unknown
• Trial and Error
• Max power during step climbing
• NPC-2212 motors selected
• Built in 211 gear reduction
• 285 rpm output
• 12V
• 80 amp stall current, typ. 46 amp or less

9
Deliverables Progress

• Deliverables
• Robust crawler platform
• Manual
• Replacement parts
• User interface information
• Build-It-Yourself Guide
• Progress
• Mechanical and Electrical fabrication is complete
• Testing/Driving of crawler over weekend
• Slight Modifications
• Gear reduction
• Track Frame Trimming

10
Recommendations

• Lighter Weight
• Aluminum Pulleys
• Less material in Side Plates
• Narrower
• Minimal door clearance
• Motors
• More Powerful
• Possibly run at 24 volts
• Tread
• More Aggressive