Final Presentation
April 7, 2010
Jonathan Cole
Fabio Faragalli
Trevor Dwyer

 Project MATV
– Initial Vision
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Project Objectives
Design Iterations
 MATV Solid Model
– Model Overview
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Drive-train
Suspension Design
 FEA Analysis
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Axles
Suspension Arms
 Final Design

 Small all-terrain vehicle
– Able to navigate rough terrain and water obstacles
 Battery powered
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Chain driven from two electric motors
Provide enough power and clearance to climb stairs
Remote control operation
Skid steer design
6 independently sprung wheels
 Water tight platform
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Able to fit through a standard door
Ample room for the mounting of recording, navigational, and controls equipment

 Initial design iteration
– Hydraulic powered concept
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Independent hydraulic wheel motors
Tandem bi-directional hydraulic pump
Driven by a 4 stroke gasoline engine
 Objectives:
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Enough torque to navigate vertical obstacles
Lift nose of vehicle with leading wheels
– 24 hour autonomy

 6 wheel platform
– Amphibious
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Weight less than 300lbs
50lbs payload
Minimum 2ft 3 cargo space
 Robust off-road suspension
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Independently sprung wheels
1214” ground clearance
Less than 48” wide
Vmax 30km/h

 Weight
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Spec: 300 lbs with a payload of 50 lbs
Actual: 600+ lbs total
Large weight of independent wheel motors & suspension arms
 Cost
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Cost estimate ~$10,000
Wheel motors $720 US per motor ($4200+ total)
Tandem pump $1000+
 Operating Pressures
– 2000 psi for entire hydraulic system
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Motor limited
1/3 operating pressure drop per motor (series)

 Drive-train
– Hydraulic transmission / chain driven system
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Torque potential
Weight & cost savings
 Suspension Design
– Swing-arm suspension
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Ground clearance & width potential
More suitable for chain drive
Simplified hub & shock design

Operating P. (PSI) Climb Angle Tire D. (in) Weight (lb) Required Hp Pump Dp (in^3/rev) Pump Flow (L/min) Trans RPM GR
3000 45 16.0
600 5.22
0.43
28.25
1695.00
3.25
Weight vs Hp @ 45deg
10
8
6
4
2
0
Max
2000 PSI
3000 PSI
4000 PSI
300 400 500
Weight
600 1000
Weight vs Dp @ 45deg
1.2
1.0
0.8
0.6
0.4
0.2
0.0
Max
2000 PSI
3000 PSI
4000 PSI
300 400 500
Weight
600 1000

 Required HP dependent only on weight.
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Regardless of operating pressure.
Limit of 5.5HP engine is 600lb @ 45 ° slope.
 Required pump displacement and flow rate highly dependent on operating pressure.
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Transmission (pump/motor) can handle 4500psi intermittent and 3000psi continuous.
This translates to 1300lb(+) capacity @ 3000psi.
 Tire diameter only affects gear ratio.
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Required torque at wheels dependent on gear ratio.
Engine governed at 3600rpm, transmission Max 4000rpm.

 80/20 frame
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Allows for easy adjustments
Light weight while maintaining strength

 Aluminum outer shell
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Light weight and corrosion resistant
Amphibious
Houses components

 Upper Shaft
 Notched at either end to allow the bearing to be secured
 Partially keyed to allow the attachment of the gears without hindering the bearings

 Lower Shaft
 Similarly Notched to allow the bearings to be securely attached
 Keyed to allow the attachment of the gear

 Swing Arm Design
– Allows for greater travel and ground clearance
– Reduces overall width and supports the use of the chain drive

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Pillowblock Bearings
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3/4 inch
5/8 inch
Flange mounts
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5/8 inch
2 ½ inch bolted
Gear
– 5/8 inch
U-channel
– 3/16 inch

 Axles
 Suspension Arms

(Impulse momentum)
Displacement (10 kN)
0.7 inch
Strain (10 kN)

Swing arm 3/16 inch
Displacement (10 kN)
Strain (10 kN)

Swing arm 5/8 inch
Strain (10 kN)
Displacement (10 kN)

 Honda GX690 Engine
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22.3 Hp @ 3600rpm
35.6 ft ∙lb @ 2500rpm
 Sauer Danfoss BDU-21H
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Output Torque = 72.1 N·m
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Operating pressure 3250 psi
Dp/Dm = 1.28 in 3

Gear
Ratio Torque Vmax Compare Torque Engine
2.51
118 ft∙lbs 110 km/h
2010
Honda
Civic 128 @ 4300 1.8L 4 Cyl
5.00
235 ft∙lbs 55 km/h
2010
Hyundai
Genesis 223 @ 2000 2.0L Turbo 4 Cyl
8.00
375 ft∙lbs 35 km/h
2010
Audi R8
Quattro 391 @ 6500 5.2L V10
9.00
422 ft∙lbs 30 km/h
2010
Nissan
GTR 434 @ 3200 3.8L V6 Twin Turbo
Picture