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projects:ideas:armadillo_scout [2012/07/16 16:07] claes [Beltmodule redesign] |
projects:ideas:armadillo_scout [2021/08/14 04:21] (current) |
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[[projects: | [[projects: | ||
- | ===== Using the Armadillo Scout as a scarecrow ===== | ||
- | Detect birds on a field. Scare them away without harming | + | |
- | ===== Mechanical projects | + | |
+ | ===== Software ===== | ||
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+ | ===== Mechanical ===== | ||
+ | ==== Crawler vibration Measurement ==== | ||
+ | Moreover, please check the | ||
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+ | 1. | ||
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+ | 2. The dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by driving speed / lug or (core bar) pitch of rubber crawler. | ||
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+ | 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 | ||
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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: | ||
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+ | ==== Movement of entire house for weight displacement ==== | ||
+ | Adding an implement and balancing of weight | ||
==== Beltmodule redesign ==== | ==== Beltmodule redesign ==== | ||
We need a new design in order for the module to live up to our expectations. | We need a new design in order for the module to live up to our expectations. | ||
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+ | ===== Mechanical/ | ||
==== Dynamic change of height | ==== Dynamic change of height | ||
==== Dynamic change of width ==== | ==== Dynamic change of width ==== | ||
- | ==== Movement of entire house for weight displacement ==== | ||
- | Adding an implement and balancing of weight | ||
==== Tilting of the beltmodules ==== | ==== Tilting of the beltmodules ==== | ||
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Look for safety remote for this! | Look for safety remote for this! | ||
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+ | ===== Control Panel ===== | ||
+ | Create a HW control panal with on/off switches for different components -> one switch for each 12/24 VDC connector. | ||
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+ | Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage. | ||
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+ | https:// | ||
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+ | http:// | ||
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+ | http:// | ||