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--- projects:ideas:armadillo_scout [2012/07/05 15:43]
claes
+++ projects:ideas:armadillo_scout [2021/08/14 04:21] (current)
@@ Line 1: / Line 1: @@
 ====== Armadillo Scout Projects ======
 [[projects:done_armadillo|Finished Armadillo Assignments]]
-===== Mechanical projects =====
+===== Software =====
+===== Mechanical =====
+==== Crawler vibration Measurement ====
+Moreover, please check the  following factors.
+.       relation between lug or (core bar) pitch of rubber crawler and arrangement of track rollers.
+.       The dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by driving speed / lug or (core bar) pitch of rubber crawler.
+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 0.2/0.084=2.831Hz
+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://www.google.com/url?q=https%3A%2F%2Fdocs.google.com%2Fopen%3Fid%3D0B1ilODNTH9nzanZBbk1RRmhXX0k|her]]. Jeg tror det er en god ide at tage med i overvejelsene af et nyt design.
+Her er link til deres artikler:  [[http://www.google.com/url?q=https%3A%2F%2Fdocs.google.com%2Fopen%3Fid%3D0B1ilODNTH9nzb3J2N1lwZW9yQms|artikel 1]] [[http://www.google.com/url?q=https%3A%2F%2Fdocs.google.com%2Fopen%3Fid%3D0B1ilODNTH9nzbUlNdHVuTVg1Tms|artikel 2]]
+=== 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., fordi der bliver trukket i stedet for skubbet.
+  *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, pga. af den store masse der flytter sig frem og tilbage.
+    *Vibrationerne kan stamme fra alle tandhjul, og det kan vaere meget svaert at fidne ud af praecis hvor de opstaar henne.
+  *Observationer efter feltforsoeg: Hvis kaeden ikke er stram, bliver vibrationerne mindsket vaesentligt.
+==== Movement of entire house for weight displacement ====
+Adding an implement and balancing of weight
 ==== Beltmodule redesign ====
+We need a new design in order for the module to live up to our expectations.
 The official description is in this googledocs document [[https://docs.google.com/document/d/15SUUbbJXgN6iYc-X1sOzwHNXymfVn5B7BtMgI5sI8pY/edit]]
-We need a new design in order for the module to live up to our expectations
+slide short presentation of the project:\\
+[[https://docs.google.com/presentation/d/1-wKnQeWtGUCR7ve3ykrSo6PZMFH5SHc6yH-UTAcvjsA/edit]]
+===== Mechanical/Electrical projects =====
 ==== Dynamic change of height  ====
 ==== Dynamic change of width ====
-==== Movement of entire house for weight displacement ====
-Adding an implement and balancing of weight
 ==== Tilting of the beltmodules ====
 tilt the beltmodules and put a castor wheel on the ground
-==== Update RHD for the new hardware ====
+===== Update RHD for the new hardware =====
 The RHD in MobotWare needs to be updated so it can control the hardware on Armadillo 2.
-=== Sensors ===
+==== Sensors ====
   * Gyro/IMU
   * Tiltmeter
@@ Line 26: / Line 65: @@
   * Stereo camera
   * Encoders
-=== Actuators ===
+==== Actuators ====
   * Motorcontrollers - is almost done
-==== Selector button like on the Hako for mode control ====
+===== Selector button like on the Hako for mode control =====
   - Remote - Bypass computer and go directly to the motorcontrollers
   - WiiMote - (Using FroboMind)The software should start automatically based on the selected mode
@@ Line 35: / Line 74: @@
     - MobotWare
     - Frobomind
-==== Upgrade the Safety System for the Armadillo-Scout ====
+===== Upgrade the Safety System for the Armadillo-Scout =====
 The Safety System need to be designed and implemented. It should follow the solution made for the Hako, so it is compliant with ISO 13849 - Machine Safety.
 It includes the following assignments:
@@ Line 41: / Line 80: @@
   * Redundant wirering for all e-stop buttons
   * Integrate the motorcontroller in the system, so the power is not just cut off and used a a motor/motorcontroller reset. See documentaton for [[robots:armadillo:hardware:motors|motor controllers]] on how to corretly implement the MC in the Safety System.
-==== Install Remote to connect directly to the motor controller ====
+===== Install Remote to connect directly to the motor controller =====
 It is possible to cennect a RC controller directly to the motor controller. This mean it can be controlled with ot the computer and software.
 Look for safety remote for this!
+===== Control Panel =====
+Create a HW control panal with on/off switches for different components -> one switch for each 12/24 VDC connector.
+Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage.
+https://www.distrelec.de/digitale-anzeige/red-lion/cub4v000/900770;jsessionid=601072C734EF84727554506898CC40E2.daechj011u
+http://www.conrad.de/ce/de/product/127423/TDE-Instruments-DPM802-TW-Voltmeter-und-Amperemeter-Einbaumasse-68-x-33-mm/SHOP_AREA_17631&promotionareaSearchDetail=005
+http://www.conrad.de/ce/de/product/121065/VOLTCRAFT-70004-Digitales-Einbaumessgeraet-LCD-Panel-Meter-Einbaumasse-60-x-24-mm/SHOP_AREA_17631&promotionareaSearchDetail=005

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