Team Concept and Key Issues

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Team Concept and Key Issues
AME 470 Senior Design ASME Bulk Material
Transporter Matt Bertke, Paul DeMott, Patrick
Hertzke, Will Sirokman 16 September 2004
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Stair Climbing Concept

Senior Design Team
Burja ____________________________________________
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Two Independently Driven Treads with Dual Swing
Arm
Swing Arm rotates CW to incline front of
vehicle. Treads drive forward until front
contacts step.


Swing Arm rotates CCW to the rear of the vehicle.
Swing Arm lifts rear of vehicle as treads drive
forward onto next step.
Swing Arm rotates CW out of the way when vehicle
is firmly on the next step.
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Senior Design Team
Burja ____________________________________________
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Key Issues Locomotion

• Optimizing Torque and Speed of Swing-Arm
  apparatus to maximize performance
• Motor and Gear-train trade study
• Analysis of independent drive treads
• Tread material and size to maximize traction
• Drive motor sizing and synchronization
• Arm position control
• Motor braking and actuation
• Arm wheel design

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Senior Design Team
Burja ____________________________________________
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Key Issues Power and Electronics

• Power supply
• Available battery power vs. motor requirements
• Power distribution
• Potential energy study
• Electronic Control
• Automation of ascent and decent process
• Control of grain delivery
• Individual drive tread control
• Position control of swing arm
• Operator interface

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Senior Design Team
Burja ____________________________________________
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Key Issues Materials

• Frame Design
• Weight of material
• Cost
• Ease of manufacture
• Material strength
• Outsourced Parts
• Motors and gearing selection
• Wheels and treads

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Senior Design Team
Burja ____________________________________________
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Key Issues Stability

• Suspension
• Frame suspension
• Grain container suspension
• Margin of error
• Vehicle dimensions
• Vehicle speed
• Variability in motor precision and control input
• Center of Gravity
• Positioning with and without grain load
• Motor, battery, and grain container positioning

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Senior Design Team
Burja ____________________________________________
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Key Issues Schedule

Date Preliminary Design Report 14-Sep Team
Concept and Key Issues 21-Sep Mobility
Stair Navigation and Turning Mechanism. 28-Sep
Chassis Design. 5-Oct Controls and
Interface. 12-Oct Material
Discharging. 26-Oct List of all parts and
their sources estimate of production
costs. 2-Nov Electronics and Power
Distribution. 9-Nov Complete Digital
Model. 16-Nov Outstanding Issues.
Date Milestone/Deliverable 14-Sep Team
preliminary concept selection report
due. 21-Sep Individual engineering trade study
proposal due. 5-Oct Individual engineering
feasibility study due. 7-Nov Critical Design
Review 11-Nov Concept design proposal
due. 16-Nov Demonstration of electronics,
sensors, and control logic. 18-Nov Layout of
all mechanical components. 30-Nov In house
demonstration. 2 Dec Final Concept Design
Proposal due