P19229: Robotter
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Systems Design

Table of Contents

Team Vision for System-Level Design Phase

Our team planned to:

We accomplished all of the above with the exception of deciding on a final solution. The reason being that we would like to present our findings to the customer and weigh her input before moving forward with the subsystem design.

Functional Decomposition

Functional Decomposition Flow Chart

Functional Decomposition Flow Chart

Benchmarking

The two best bench marking products we found were the Pleurobot, highlighted in the problem definition phase, and Robotter 1.0. We assessed these products in our Pugh Charts, shown in the Concept Selection Section, against our brainstormed ideas to get an idea of how we can improve upon these.

Concept Development

Concept Generation

Concept Generation

Feasibility: Prototyping, Analysis, Simulation

Tail Prototyping

CAD Model of Tail Assembly

CAD Model of Tail Assembly

The above picture is a rough design of what our tail will look like. The tail will consist of 2 of these assemblies with a motor allowing each section to pivot left and right. This left and right motion will create the thrust needed to swim.

Tail Torque Calculation

Estimated Tail Torque Calculation with Matlab

Estimated Tail Torque Calculation with Matlab

Using Newtonian Physics and principles of hydrodynamics, an expression for the tail torque can be derived. The above matlab code performs a calculation of the estimated required torque. With this torque, possible motors can be specified for the tail.

Body Prototyping

CAD Model of Body Assembly

CAD Model of Body Assembly

Leg Prototyping

Working Prototypes of leg concepts

Working Prototypes of leg concepts

We made functioning prototypes of the three leg designs that we came up with. A leg with single axis movement, dual axis movement in the same plane and finally, dual axis in dual plane. We decided to eliminate the dual axis dual plane option because it is more complicated to coordinate movements and it does not resemble an otter.

Leg Motor Sizing

Preliminary Calculations for Necessary Leg Motor Torque

Preliminary Calculations for Necessary Leg Motor Torque

Modeling the motor torque needed to move leg backward while the ‘foot’ is on the ground. This is the worst case leg movement as the mass of the otter body must be taken into account as well.

Preliminary Buoyancy Calculation

Preliminary Calculation of Maximum Allowable Mass for Buoyancy

Preliminary Calculation of Maximum Allowable Mass for Buoyancy

Calculation is partially based on the preliminary buoyancy calculations done by team P18229 (Robotter 1.0). In this case the system was modeled as 2 cylinders, one for the torso and one for the tail.

Morphological Chart and Concept Selection

System Morph Chart

System Morph Chart

Concept Selection

System Pugh Chart #1: Robotter 1.0 as Datum

System Pugh Chart #1: Robotter 1.0 as Datum

System Pugh Chart #2: System Concept 2 as Datum

System Pugh Chart #2: System Concept 2 as Datum

Systems Architecture

Electrical System Architecture

Electrical System Architecture

Risk Assessment

A full list of our working risk assessment can be seen here

Design Review Materials

Our Design Review Slides can be found here

Plans for next phase

Individual Plans
Jacob Huppe
Ian Kay
Jonathan Travers
Drew Meunier
Chris Ugras
Mia Garbaccio

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