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M.A.C.S. Movement System: Design and Risk Mitigation Overview

The M.A.C.S. movement system is designed to move efficiently at speeds up to 5mph with a load capacity of up to 25lbs. The system includes features such as basket elevation of +/- 6" and smooth 90-degree turns. To address potential risks like battery drainage and motor control issues, the design incorporates oversize batteries, linear actuators, PWM control, and optimized motor gearing. The use of wheelchair motors allows for heavy load capacity and battery-powered operation. The testing strategy includes verifying speed holding, basket movement, turning capabilities, and smooth speed adjustments. Uncertainties related to cost considerations are also taken into account for effective planning and implementation.

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M.A.C.S. Movement System: Design and Risk Mitigation Overview

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  1. Movement System Overview The M.A.C.S. needs to be able to move up to 5mph with its self load and an additional load of up to 25lbs. The basket portion must be able to be raised and lowered +/- 6” The movement control must have enough granularity so that the movement is smooth. The M.A.C.S. should be able to perform 90 degree turns

  2. Related Marketing Requirements

  3. Engineering Specification

  4. Component Risk Investigation

  5. What are the Risks? Batteries drain too quickly Motor control is jerky Motors have difficulty turning M.A.C.S cannot reach the desired speed Motor controller circuitry cannot handle the load Basket weight is difficult to raise Cost of control circuitry

  6. Risk Mitigation Oversize batteries and motor controller current rating for longer and cooler operation Linear actuators can lift a surprising amount and should not be a limitation PWM as motor control gives us the granularity needed to make speed changes and turning smooth Gear the motors so that M.A.C.S moves 3mph at the motors’ peak efficiency RPM

  7. Why Wheelchair Motors? Free Designed to move heavy loads Designed to run off battery power Can operate at different RPM Often have control circuitry built in

  8. Testing Strategy (Movement) • Verify that the M.A.C.S can hold a 3mph speed with both the minimum and maximum load • Verify that the linear actuator moves the basket +/- 6” with the minimum and maximum load • Verify that 90 degree turns can be completed with the minimum and maximum load • Hold 3mph with maximum load for a minute. Measure battery drain and extrapolate for total lifetime. Also ensure PWM circuitry is within operating temp after the one minute drive. • Walk from a stop up to 5mph and back down to a stop. Verify that that speed adjustment appeared smooth

  9. Uncertainties Cost: If we need to incorporate two PWM controllers (one for each motor) then the cost begins to become prohibitive.

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