ENGR 1110: Lego Car Project Final Design Presentation - PowerPoint PPT Presentation

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ENGR 1110: Lego Car Project Final Design Presentation

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Rack and Pinion Close Up. 5/19/09. ENGR-1110 Team 12-A. 10. Maximized Tire Traction ... First-ever rack & pinion implementation. Drive-by-wire software ... – PowerPoint PPT presentation

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Title: ENGR 1110: Lego Car Project Final Design Presentation


1
ENGR 1110 Lego Car ProjectFinal Design
Presentation
  • Section 12 Team A
  • John Langdon
  • Clint Patterson
  • Joseph Berrios
  • Mustafa Ali
  • Tim Aldridge

December 5, 2003
2
Overview
  • Introduction
  • Basic concept
  • Driving strategy
  • Mechanical sub-system
  • Electronic sub-system
  • Materials and cost
  • Reliability and safety
  • Competition results and analysis
  • Conclusion

3
Introduction
  • Drive a LEGO car around an oval track in the
    shortest net time
  • Consider time penalties and bonuses
  • Consider various trade-offs

4
Basic Concept
5
Driving Strategy
6
Driving Strategy
  • REAR-WHEEL DRIVE
  • Drive 1 motor ? rear-axle
  • Steering 1 motor ? rack pinion
  • Rectangular path on course
  • 1st run automated w/ manual backup
  • 2nd and 3rd fully automated

7
Mechanical Sub-system
  • Rear wheel drive
  • Tire traction
  • Maintenance
  • Construction

8
Rear Wheel Drive
Mechanical Sub-System
  • Drive motor
  • 1 motor connected to rear-axle
  • Both drive wheels connected to rear axle
  • Rack pinion
  • 1 motor connected to a linear rack
  • Rack connected to pinion that pivots two steer
    wheels

9
Rack and Pinion Close Up
10
Maximized Tire Traction
Mechanical Sub-System
  • Weight localized on each set of wheels
  • Rubber radial tires
  • Light-weight stranded wire

11
Easy Maintenance
Mechanical Sub-System
  • Both motors easily removable
  • Quick transformation from pivot-steer to
    rear-wheel-drive and vice versa
  • Hooks at end of each wire and diode
  • Quick changes to circuit design
  • No soldering required
  • No electric tape required

12
Sturdy Construction
Mechanical Sub-System
  • LEGO friction pins
  • Virtually impossible to break bricks apart
  • Built-in tower to hold wire

13
Close Up Shot 2
14
Front
15
Top
16
Electronic Sub-system
  • Frequency and Waveform
  • Programming
  • Wiring

17
Frequency and Waveform
Electronic Sub-System
  • 150 Hz frequency
  • Square wave with positive duty cycles
  • Circuit
  • 1 diode on drive channel
  • 1 diode on steering channel

18
Programming
Electronic Sub-System
  • Matlab to generate square wave .WAV
  • Visual Basic for drive-by-wire driving
  • Left channel drive motor
  • Right channel rack-and-pinion motor
  • Media source
  • Primary CDRW with backups
  • Backup floppy disks

19
Wiring
Electronic Sub-System
  • Requirements low resistance / low friction
  • Wiring simulation runtimes using PSpice
  • Empirical Choice 28-gauge stranded, 40 ft
  • Actual Implementation 24-gauge stranded, 50 ft

20
Materials and Costs
  • Mandatory Supplies 57.25
  • LEGO parts 20.42
  • Wire 10.21
  • Total Expenditure 87.88
  • Mandatory Supplies 2 motors, 2 sets of wheels
    and tires, 8 diodes

21
Reliability and Safety
  • Redundant systems
  • Multiple media sources
  • Backup manual system if automation fails
  • Insulated Wires
  • Product not intended for children under the age
    of 10.

22
Testing and Competition Results
  • Practice times (average)
  • Setup Time 15-25 seconds
  • Automated 0-50 seconds setup
  • Manual 102 seconds setup
  • Actual time
  • Setup Time 10-15 seconds
  • Automated N/A
  • Manual 78 seconds
  • Final position in class 5th

23
Issues During Competition
  • Problem Automation on 1st run not possible with
    new amplifier setting
  • Solution Manual recording saved
  • Problem A glitch in 2nd runs 4th turn resulted
    in too sharp a turn
  • Solution Corrected by delaying 4th turn by 1.5
    seconds
  • Problem Setup error in 3rd run resulted in
    malfunction
  • Solution Need to be careful in future about
    procedures

24
Conclusion
  • Car designed to meet user requirements
  • First-ever rack pinion implementation
  • Drive-by-wire software
  • Predictable performance due to extensive testing
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