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MARSUPIAL Detailed Design Review

MARSUPIAL Detailed Design Review. Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA 15201. Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice. Agenda. Introduction Systems Design Tracks/Suspension Wireless Node Payload Wireless Node Deployment Electrical Systems

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MARSUPIAL Detailed Design Review

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  1. MARSUPIALDetailed Design Review Carnegie Robotics LLC.#10 40th StreetPittsburgh, PA 15201 Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice

  2. Agenda • Introduction • Systems Design • Tracks/Suspension • Wireless Node Payload • Wireless Node Deployment • Electrical Systems • Risks • MSD II Schedule • Questions

  3. Introduction • MARSUPIAL Tracked Rover for CRL • Scope • Suspended Track System • Wireless Node System • Electrical Systems • Deliverables • Suspended Track System • Mesh Network Payload

  4. Wes Tracks and suspension

  5. Tracked Suspension System • Suspension • Rugged against impact shock • Various environmental areas • Climb obstacles • Self Contained • IP Rated seals • Drive-Train • Off the shelf motors • Meet speed and torque requirements • Simple gearing • Integrated electronics • Odometry

  6. Tracked Suspension System • Suspension Design • Improved Christie • Volute Idea

  7. Tracked Suspension System

  8. Tracked Suspension System

  9. Tracked Suspension System • Drive-Train • Required Speed • Min of 5mph on level ground • Require Torque • To move 150 lbs of robot and payload • Off the Shelf Motor • Reduce overall price • Realistic Gear Train • 8.0:1 – 12.0:1 • Planetary

  10. Tracked Suspension System • Upper Christie Arm • Bronze Bearings • Retaining Rings • Ballend Spring Joints

  11. Tracked Suspension System • Lower Christie Arm • Bronze Bearings • Press Fit Axel • Ball Bearings for Tensioning Wheels • Ballend Spring Joints

  12. Tracked Suspension System • Dedicated Tensioner • Bronze Bearings • Press Fit Axel • Ball Bearings for Tensioning Wheels • Clock Spring For Preload

  13. Tracked Suspension System • Undriven Wheel Top Assy • Ball Bearings • Preload • Grease Seal • O-Rings • Stock Pulley • Magnetic Encoder • Odometry

  14. Tracked Suspension System • Motor Assembly • Sealed • Planetary Gearbox • Parking Brake

  15. Tracked Suspension System • Tracks • Proper materials • Coef of friction • Material stretch • Outdoor resistant • Chemical and physical ruggedness • Ease to install and remove

  16. Tracked Suspension System BOM

  17. Tracked Suspension System BOM 2

  18. Tracked Suspension System BOM 3

  19. Sean Wireless node payload

  20. Wireless Node Payload • Droppable Node • OLinuXino – 575 MHz ARM Core • Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol • USB Wi/Fi adapter • Buck converter • Li-on battery providing upwards of 6 hours of runtime • Current Prototype • 3D printed shell • Off-the-shelf antenna

  21. Wireless Node Payload Block Diagram

  22. Wireless Mesh Node BOM

  23. Jared Wireless node deployment

  24. Wireless Node Deployment System • Needs to readily deploy the node while keeping in place during high impact moments • High holding strength • Ability to drop the puck easily • Deployment system should be isolated from the outside to comply with IP standards • Dust / water prevention • Short circuit protection • Magnetic holding system developed • Magnetic slide in the track

  25. Wireless Node Deployment System CAD

  26. Wireless Node Deployment System Wiring Diagram

  27. Wireless Node Deployment System PCB

  28. Wireless Node Deployment System BOM

  29. Nico and Chris Power management and distribution

  30. Electrical Diagram

  31. Electrical Diagram – Batteries

  32. Electrical Diagram – Power Train

  33. Electrical Diagram – Peripherals

  34. Power Budget

  35. Electrical Systems

  36. Risks

  37. System Risks

  38. Mechanical Risks

  39. Electrical Risks

  40. Software Risks

  41. Safety Risks

  42. Schedule

  43. To be accomplished • EMF interference mitigation • Further node deployment development • Prototyping • Schematic and PCB design • Full BOMs • Detailed Design Review Slideshow • Final Detailed Design Review Slideshow • Continued EDGE Updates

  44. Questions

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