Mechanics - PowerPoint PPT Presentation

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Mechanics

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  1. Mechanics Design and Fabrication of: • Vehicle Actuators • Steering • Brakes • Transmission • Sensor Housings • Stereo Camera • GPS Antennae • System Protection • Shock-absorbing computers • Secure installation of components

  2. Vehicle Actuators Rotary Encoder • Steering • Motor from Bosch cordless drill. • Modified gears mounted directly to steering wheel. • Rotary encoder used for position feedback. • Brakes • Bicycle brake cable used to depress pedal. • Motor-driven linear actuator. • Load-cell used for tension feedback. • Also: pneumatic e-brake, for fail-safe operation. • Transmission • Ability to shift from forward to reverse. • Not used due to several issues: • Slow actuation • Difficulty interfacing with vehicle transmission • Not open up an Achilles heel. Load cell Steel Gears bike cable brake pedal motor Drill motor

  3. Sensor Housings • Stereo Camera • Camera rated for “indoor office use only” !!! • Water & air tight enclosure • Mounts for photographic filters • GPS Antennae • 4 GPS receivers • Need good location on top of vehicle for best data. • Wooden boom also supported rotating beacon

  4. System Protection • Shock Absorption for computers. • Old way: Computers were wrapped in foam. • New way: Computers are rack-mounted on shock-isolating feet. • Secure installation of other components. • Batteries, wires, power supplies, air compressor… • The “shake test” Shock-absorbing feet