This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
projects:ideas:armadillo_scout [2012/08/22 13:49] claes [Install Remote to connect directly to the motor controller] |
projects:ideas:armadillo_scout [2012/11/07 17:16] claes [Crawler vibration Measurement] |
||
---|---|---|---|
Line 5: | Line 5: | ||
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. | ||
- | ===== Mechanical | + | ===== 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 ==== | ||
+ | * 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 ===== | ||
+ | ==== Crawler vibration Measurement ==== | ||
+ | Moreover, please check the following factors. | ||
+ | |||
+ | |||
+ | |||
+ | 1. | ||
+ | |||
+ | 2. 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/ | ||
+ | |||
+ | 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: | ||
+ | |||
+ | |||
+ | ==== 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. | ||
Line 16: | Line 47: | ||
+ | ===== 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 ==== | ||
Line 59: | Line 89: | ||
Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage. | Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage. | ||
+ | |||
+ | https:// | ||
+ | |||
+ | http:// | ||
+ | |||
+ | http:// | ||
+ |