User Tools
Table of Contents
Armadillo Scout Projects
Software
Mechanical
Crawler vibration Measurement
Moreover, please check the following factors.
1. relation between lug or (core bar) pitch of rubber crawler and arrangement of track rollers.
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 0.2/0.084=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 her. Jeg tror det er en god ide at tage med i overvejelsene af et nyt design. Her er link til deres artikler: artikel 1 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
1 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
Tilting of the beltmodules
tilt the beltmodules and put a castor wheel on the ground
Update RHD for the new hardware
The RHD in MobotWare needs to be updated so it can control the hardware on Armadillo 2.
Sensors
- Gyro/IMU
- Tiltmeter
- GNSS
- Sick LSM111
- Stereo camera
- Encoders
Actuators
- Motorcontrollers - is almost done
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
- Automatic - The software should start automatically based on the selected mode
- MobotWare
- Frobomind
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:
- Bumper like on the hako or something similar.
- 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 motor controllers on how to corretly implement the MC in the Safety System.
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.
