Differences

This shows you the differences between two versions of the page.

--- projects:ideas:armadillo_scout [2012/09/21 16:39]
claes [Model the hysteresis of the drive wheel]
+++ projects:ideas:armadillo_scout [2021/08/14 04:21] (current)
@@ Line 2: / Line 2: @@
 [[projects:done_armadillo|Finished Armadillo Assignments]]
-===== Using the Armadillo Scout as a scarecrow =====
-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  1-1,5 cm before the belt starts moving.
-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 =====
+==== 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

Technology in Crop Production

User Tools

Site Tools

Differences

Page Tools