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projects:ideas:armadillo_scout
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projects:ideas:armadillo_scout [2012/11/07 17:02] claes [Mechanical] |
projects:ideas:armadillo_scout [2013/10/30 16:06] claes |
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| Detect birds on a field. Scare them away without harming the birds or the crops. | Detect birds on a field. Scare them away without harming the birds or the crops. | ||
| - | ===== Software ===== | ||
| - | ==== Model the hysteresis of the drive wheel ==== | ||
| - | There is a small gap in the belt, between the teeth of the drive wheel and the belt. So the teeth can move approximately | ||
| - | This phenomenon needs to be modeled in the software, to take the hysteresis in to account. | ||
| - | ==== Odometri for beltdrive vehicles | + | ===== Software ===== |
| - | * dynamic distance change during driving | + | |
| - | * difference in tick between backwards and forwards driving | + | |
| - | * define kinematic model that somehow includes slip. -> maybe based on slip observer from france. | + | |
| - | * model hysterese in the belt to optimise position estimation | + | |
| - | * | + | |
| ===== Mechanical ===== | ===== Mechanical ===== | ||
| Line 29: | Line 21: | ||
| In case lug or (core bar) pitch of rubber crawler is 0.084m and driving speed is 0.200m/s, dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by 0.2/ | In case lug or (core bar) pitch of rubber crawler is 0.084m and driving speed is 0.200m/s, dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by 0.2/ | ||
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| + | Muneshi Mitsuoka fra Kyushu Universitet har skrevet PhD om vibrationer i baeltekoeretoejer. Han har ogsaa lavet noget software der kan simulere et design af baeltemodulerne. Jeg har uploadet praesentationen jeg har faaet af han [[http:// | ||
| + | Her er link til deres artikler: | ||
| + | === Observations so far === | ||
| + | *Kraftoverfoersel fra drivhjul til baelte: Hvis drivhjulet placeres nede i bageste hjoerne af baeltet, vil drivhjulet traekke i baeltet der ligger paa jorden mens det er belastet af hele robottens vaegt. Det burde goere baeltemodulet mere effektivt ved fremadkoersel., | ||
| + | *Baelte med stort drivhjul - Se ogsaa Armadillo 3 arbejdsdokument.\\ Det giver min 3 taender i baeltet hele tiden | ||
| + | *De 3 skiver/hjul i hvert modul der baere vaegten bevaeger sig op og ned hver gang de koerer hen over en af metal delene i baeltet og hullerne i mellem dem. Jo hurtigere man koere jo mindre er problemet, men ikke desto mindre er det med til at lave vibretioner i rammen. | ||
| + | *Vi har snakket med Prof. Meier fra TU Berlin. Han mete at vibrationerne kunne opstaa af flere grunde. | ||
| + | *Polygon effekt; jo stoerre drivhjulet er jo bedre. Det skal have et ulige antal taender, og det skal vaere 17 eller derover for at mindske effekten. | ||
| + | *Hvis huset er monteret paa daempere kan det skabe vibrationerne, | ||
| + | *Vibrationerne kan stamme fra alle tandhjul, og det kan vaere meget svaert at fidne ud af praecis hvor de opstaar henne. | ||
| + | *Observationer efter feltforsoeg: | ||
| + | |||
projects/ideas/armadillo_scout.txt · Last modified: 2021/08/14 04:21 (external edit)
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