Eastern Mediterranean University
Department of Mechanical Engineering
MENG 492-Capstone Team
Presentation
Prepared by TEAM CHROME
Fall 2012/2013
Welcome to our Presentation
Abdulrazaq Salihu Lemu
Olaniyi Teidi
Timothy Mbamarah
Brief Introduction and Background
•History
•Aim and Objectives
•Type of Stair Leveling Robots
Tank
The
Tread
Spider Robot
Tri-Wheel Stair Leveling Robot
Design
Process
Assembly
Test
Tri-Wheel Stair Leveling Robot
Design
Steps in Design:
•Calculations
•Material Selection and Bearings
•Electric Motor and Battery
•Transmition Mechanism
Calculations
Material
Selection and
Bearings
Electric Motor
and Battery
Transmition
Mechanism
Tri-Wheel Stair Leveling Robot
Value of X
Design
Calculations:
Where
•Size
•Gear
H is power
•Buckling, Shear and Stress
Analysis
d is gear diameterm (58 mm)
N
n is rpm
55
1
•Power and Torque
50
1.1
•Transmition System
45
1.22
•Frame
36.6
1.5
Calculations
27.5
2
22
2.5
18.33
3
Tri-Wheel Stair Leveling Robot
6004 O2-Series
6800
Design
Bore, mm
OD, mm
Width, mm
15
10
42
19
512
Material Selection and Bearing:
•Material Selection
Castermid
Gear
Frame
Shaft
Tri-Wheel
Ball
Bearing
Material
Body
Material
Selection and
Bearings
Courtesy of Polikim Industry
Tri-Wheel Stair Leveling Robot
Design
Electric Motor and Battery
Self Locking Worm Gearbox
Electric Motor
and Battery
Tri-Wheel Stair Leveling Robot
Design
Transmition
Mechanism
ANSI Standards for Chain
Transmition
Mechanism
Tri-Wheel Stair Leveling Robot
Design
Tri-Wheel
Gears
Shafts
Frame
Keys
Process
Tri-Wheel Stair Leveling Robot
Design
Tri-Wheel
Bushings
Process
Tri-Wheel Stair Leveling Robot
Design
Process
Shafts
Secondary
Primary
Motor
Gear Holders
Shafts
Shafts
Shafts
Frame
Tri-Wheel Stair Leveling Robot
Design
Gears
•Transmitting
•Idle
Process
Tri-Wheel Stair Leveling Robot
Design
Process
Frame and
Housings
Pillow Block Bearing Housing
Assembly
Tri-Wheel Stair Leveling Robot
Design
Process
Tri-Wheel Assembly
Assembly
•2 units of Tri-Wheels (Body 1 and 2)
•8 units of Ball Bearings (1 6004, 7 6008)
•8 units of Setscrews (M5-Cone Point)
•7 units of Gears (3 idle, 4 transmitting)
•7 units of shafts (1 primary, 3 secondary, 3
gear holders)
•4 units of keys (Square and Rectangular 5x5)
•6 units of Nuts (M10 Hexagonal)
•12 units of Washer (6 units of DIN125-M10, 6
units of DIN125-M15)
•3 units of Wheels
•1 chain gear (ANSI25-28)
•1 cotter pin (DIN94)
•2 units of housings supports
Tri-Wheel Stair Leveling Robot
Design
Process
Power Drive,
Motor ,and
Battery
Assembly
Assembly
Tri-Wheel Stair Leveling Robot
Design
Chain
ANSI 25
Process
Assembly
2x0.70 m
2x0.70 m
Tri-Wheel Stair Leveling Robot
Design
Process
Controller
Pololu TReX Dual Motor Controller DMC01
Assembly
Tri-Wheel Stair Leveling Robot
Design
Process
Assembly
Test
Tri-Wheel Stair Leveling Robot
Improvements
Tri-Wheel Stair Leveling Robot
Advantages
•The control system is simple and the robot is controlled remotely.
•Mechanism is simple comparing to other available designs and it is easy to assemble
and disassemble when necessary.
•Use of Castermid as the material for gears makes them light and no lubrication is
required during movement.
•Using the worm gearbox makes robot’s travel safe. If by any chance voltage is cut off or
batteries ran out of charge the robot will stay in its position.
•In this design, most of the designed components were the available machine parts and
components in the market and the rest were machined in workshop which makes it
suitable for mass production, since it does not require special labor.
•The cost is reasonable compare to other available designs.
•The net weight of the robot compare to its size is reasonable.
•The possibility of malfunction is almost zero, since there is no complex assembly or
mechanism.
Thank You all for coming to
Our Presentation