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CeilBot 7 - Sports Hall

CeilBot 7 - Sports Hall. Guillaume MERCIER Massinissa AIT-GHERBI. New Statement. Functions: Video Recording Interactive Player Virtual Coach Cleanning the sport hall Catch balls Design: 4 cables – 4 motors – 4 pulley 1 stabilizator – 1 arm. New Interactive player.

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CeilBot 7 - Sports Hall

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  1. CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI

  2. New Statement • Functions: • Video Recording • Interactive Player • Virtual Coach • Cleanning the sport hall • Catchballs • Design: • 4 cables – 4 motors – 4 pulley • 1 stabilizator – 1 arm

  3. New Interactive player

  4. Playground cleaner

  5. Ball catcher

  6. Kinematics

  7. Kinematics • Cable lengths are measured from the top of the pulleys. (x, y, z) is the pod position and (xi, yi, zi) is the position of the top of the ith pulley • The position of each pulley is given by:

  8. Kinematics • In terms of cable lengths, given a speciefiedceilbot position (x, y, z), the required lengths are:

  9. Kinematics • For solving this equation we will need 3 actives cables . Here we choose l1, l2, l3 for which (x, y, z) are given by:

  10. Communication Can Bus

  11. Power Spring wire for power & communication 220V

  12. Stabilizator Inertial central & controller Accelerometer Motor CeilBot controller

  13. Safety issues • Emergency button • Sensor on the ceilbot to avoid obstacle • Buzzer to prevent somebody • Skycam: 1 accident with no injury

  14. Simulation Tennis racket: Mass 215 g Tennis ball Masse 55 g Radius 3,35 cm Ceilbot in aluminium 1 pipe mass 24,5 kg 2 pipe mass 7,4 kg Arm part I and II 5,5 kg each

  15. Thank You

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