WALKER TEAM LINKAGE VEHICLE
WALKER TEAMLINKAGE VEHICLE
THE WALKER
TEAM MEMBERSEric Schlange - Frame and Drive DesignSeth Bohlken - Leg DesignLandon Stephens - Arm DesignGage Fox - Arm DesignAvery Coronado - Claw DesignThomas Prater - Electrical Programming
OBJECTIVE Create a walking linkage vehicle Build mechanical arm to grab objects Successfully walk and move objects
OVERALL SPECIFICATIONSRequirementNominalToleranceOverall Weight50 lbmaxOverall Size2'W x 3'L x 2'HmaxMax Added Weight 15 lbmin
OVERALL DIMENSIONS
FRAME OF VEHICLE Made primarily outof Delrin Provides mountinglocations for motorsand other controls Location for arm tobe mounted
SIDE PLATE ANALYSIS
TOP PLATE ANALYSIS
POWER TRANSMISSION TO THE LEGS
WALKING MECHANISMRequirement NominalToleranceStep Up7 inminMax Incline30 degminTurn360 degminMulti-Terrain PresentN/AWalk Speed 3 mphmin45 rot * 2 ft * mile * 60 min 1.02 mphminrot 5280 fthr
WALKING MECHANISMRequirement NominalToleranceStep Up7 inminMax Incline30 degminTurn360 degminMulti-Terrain PresentN/AWalk Speed 3 mphmin45 rot * 2 ft * mile * 60 min 1.02 mphminrot 5280 fthr
WALK TEST 1
WALK TEST 2
LEG TORQUEMotor Specifications: 12 VRated Torque: 6 Nm 53 in*lbStall Torque: 29 Nm 256 in*lbLow RPM: 50 rpm maxWeight: 3.3 Lbs/172470709765?hash item28280e2e05:g:bfUAAOSwo4pYa1V-
FULL LENGTH PINS
TENSIONER 1,2,3- Two connected to thesame rotational axis fightagainst each other- The single rod allowsspool mounts to rotate
FINAL TENSIONER
ONBOARD MECHANICAL ARM
ARM REACHRequirementNominalToleranceMax RadialReach24 inminMax VerticalReach36 inminMax Arm Pivot90 degreesmin
ARM REACHSIDE VIEW
MOTOR CLAMP
MOTOR MOUNT
MECHANICAL ARM
REMOVABLE ARM
TURNTABLE BEARING Allows arm to rotate about the body Powered by Vex servo motor Total: 34.98 Material: Acetal Copolymer Yield Strength: 9,800 psi
TURNTABLE BEARING ANALYSIS
CENTER OF MASS - TIPPING
END EFFECTORRequirementNominalToleranceMax ObjectWeight1 lbMinMax ObjectWidth4 inMinAnti-CrushGrabbingPresentN/A
END EFFECTOR MOTOR 17.35 in*lb Servo Motor Size: 1.6”x1.6”x.8” Amazon: -Digital-Aluminium/dp/B073F92G2S
LINEAR ACTUATOR Provides leveling motionfor end effector DC 6V -thrustlight-duty-linear-servo
POWER SOURCERequirementNominal ToleranceBatteryPoweredPresent N/ABattery Time15 minminBattery Specifications:13 V9 Ah4.25”L x 2.25”W x 3.75”H1.9 starter-batteries/small-case/ag-801/
CONTROLSRequirement NominalToleranceRemoteDistance100 ftminCameraPresentN/ACameraDistance100 ftminRC Remote Specifications:10 Channels2.4 erReceiverCrazepony/dp/B01NABG5TY/ref sr 1 2?ie UTF8&qid 1508871195&sr 8-2&keywords 8 channel rc controller
PROCESSOR Arduino Mega 2560 Capable of analog & digital input Capable of digital and PWM output Can source 3.3v or 5v ga2560/
PROGRAMMING THEDRIVING MOTORS Receiver sends voltage to Arduinobased on the left joystick’s position Arduino compares these two valuesto each other and default to decidebetween forwards, backwards,rotational, or no motion.
CONSTRUCTION SCHEDULEFull Schedule in Appendix
BUDGETSpending to Date: 1,242.87Income to Date: 1,100.00Grant - 500.00Pitt Power Page - 600.00Out of Pocket ors220.95Electronics219.87Main Assembly:Frame, Legs, Arm,Claw, 42.87Itemized Budget in Appendix
QUESTIONS?
ITEMIZED BUDGET
CONSTRUCTION SCHEDULE
WALKER TEAM LINKAGE VEHICLE. THE WALKER. TEAM MEMBERS Eric Schlange - Frame and Drive Design Seth Bohlken - Leg Design Landon Stephens - Arm Design Gage Fox - Arm Design Avery Coronado - Claw Design Thomas Prater - Electrical Programming. OBJECTIVE Create a walking linkage vehicle
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2-5 UltraLift Concept 16 3-1 Watt’s Straight Line Mechanism 19 3-2 Fully Prismatic Linkage 19 3-3 One Replace Prismatic 20 3-4 Two Replaced Prismatics 21 3-5 Fully Revolute Linkage 22 3-6 Scissors Linkage 23 3-7 Parallel Linkage 24 3-8 Parallel Linkage with a Cam 24 3-9 Constant orientation linear linkage 25 3-10 Hydraulic Mechanism 25
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Christen, Peter. 2012. Data matching: concepts and techniques for record linkage, entity resolution, and duplicate detection. Springer Science & Business Media. Fellegi, Ivan P and Alan B Sunter. 1969. “A theory for record linkage.” Journal of the American Statistical Association 64(328):1183–1210. Dunn, Halbert L. 1946. “Record linkage.”
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