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Introduction
The purpose of this rover prototype is to prove that pneumatic
actuators are a viable option for dislodging rovers in unpredictable
terrain. The idea of developing a pneumatically actuated Mars rover
was selected after learning of the difficulties encountered during
space exploration , which had become stuck in sand during the
summer . The group decided to look into the possibility of using the
thin Martian atmosphere, consisting of mainly carbon dioxide, as a
resource to benefit the rovers. On space, a rover could use solar or
nuclear power to compress the thin CO2 atmosphere, into large
pressure reservoirs. These pressure tanks could then be used to power
pneumatic actuators that would dislodge a rover if
it were to become stuck like Spirit.
1.1 OBJECTIVE
1.1.1 Rover lifting:
The rover will jump a minimum of 1 meter on earth: This requirement
will sufficiently demonstrate that the pneumatics system is capable of
propelling the rover to a height many times higher than what is
necessary to simply dislodge the rover if it were to become stuck. It
will also show that the rover design is capable of withstanding the
impacts from landing. The rover will drive at least mile on a single
battery charge: The budget for this prototype did not allow for solar
panel integration or other alternative power generation. .
2. Block diagram
2.1 Working
An ac power supply of 220v and 5amps is given to the push
button and the push button is connected to the solenoid valve. The
positive terminal is connected to the inlet of the cylinder and the
negative terminal to the outlet. A compressor is needed for applying
input compressed air to the solenoid valve. A pressure of 10 bars is
passed through valve which controls the opening and closing of the
ports. The opening of the port creates a forward motion which gives
some upward lift from the ground and closing the ports retrieves the
piston.
3. HARDWARE DESCRIPTION
3.1
Power supply
The power supply given to the solenoid valve is an ac
3.4
Solenoid valve:
Pneumatic actuator:
These are mechanical devices which use the power of
4. FABRICATION:
solid works .
4.2
FRAME DESIGN:
5..DESIGN PRODECURE
( fmax /2|Lbeam/2 )
I = 225 *106
Bending stress:
4.2
Y max= ( d|2 )
Y max= 150 mm
COMPARING ALUMINIUM AND STEEL FOR FRAME:
Steel:
S f = 7342.857
W total = 140.4 N
Swr of steel =0.035
max
= ( M bend y max|I )
max
= .035 N/mm2
Safety factor:
s f = (
alum| max )
S f = 6885.71
Weight of aluminium:
W total =density*area
W total = 48.6 N
Strength to weight ratio:
Swr of alum= y/
Swr of alum =0.089
calculation of spring:
Free length l f =27mm
solid length l s = 19mm
Assume = k=30mm
Mass of spring =total mass/n o of spring
No of spring =4
5.4
tfall =.451 sec The time it would take to fall from the "fall" height
and/or jump height
v =at General Kinematic Equation Eqn. 2
Vfall = g.tfall Equation 2 with gravity substituted for the acceleration
Vtakeoff =Vfall The initial velocity of launch will equal the velocity
at the end of the fall
Vtakeoff =4.429 m/s
The required takeoff velocity to reach the predetermined jump
height
v2 =v0+2ax
General Kinematic Equation
Vtakeoff2 =2.atake off
takeoff
takeoff
atakeoff=9.8 m/s2
The previous equation rearranged
This is the acceleration required to achieve the required velocity in
The predetermined actuator stroke distance.
F =ma Newton's Second Law
Ftakeoff =mass.atakeoff Substitution of Variables
This is the constant force required to accelerate the predetermined
mass to the calculated force in order to achieve the predetermined
height.
Ftakeoff = 34.3N
Factuator =Ftakeoff + mass.g
The actuator force must also overcome the Force of gravity to lift
the predetermined mass against gravity.
Factuator = 68.635 N This is the force that the actuator must supply to
accelerate the
predetermined mass to the calculated force in order to achieve the
predetermined height.
A=
D
4
10-4
Pactuator=Factuator/Apiston
Pressure Equation
Pactuator =13.98 bar
5.5
hjump =1m
xaccel =0.03175 m
Find Takeoff Velocity:
Vtakeoff = 2 gh
jump
acc
aLaunchStructure=308.91 m/s2
Find the Force (per cylinder) Due to Impulse of Launch:
FAxialMax= mLaunchStructure .aLaunchStructure
FAxialMax= .69kN
1) Cylinder Burst - Failure Analysis:
Assumptions (worst case): Cylinder will initially be under
compression; however, this was neglected because the worst
case will occur when the cylinder is loaded in tension.
Twall =.015875 m SteelYield 234MPa <--- Stainless Steel 302A
(A weaker steel)
Pmax=200Mpa
rcylinder =.0125m
Thin-Wall Cylinder Equation for Hoop Stress:
hoop =pmax.rcylinder/twall
outer
- rinner2)=2.04
10
CylinderAxial=FAxialMax/ACylinderCrossSection
CylinderAxial=.343MPa
-3
m2
= hoop
<--------------- Negative because 1) quantitatively, von
1
2=
CylinderAxis
e= 1+ 22 1 2
e=15.58 Mpa
SFcylinde=SteelYield/
SFcylinder = 17.65
FABRICATION:
The prototype is fabricated according to the above design calculation.
Materials used in fabrication of frame aluminium Materials used for
pneumatic actuator-stainless steel .The process undergone in this
fabrication is pipe fittings, drilling ,metal cutting.
5.6. RESULTS:
Analytical : ( TABLE 6.1)
Selection of frame:
CHARACTERISTIC
S
ALUMINIUM
STEEL
Yield strength
241 Mpa
257 Mpa
Density
2700
7800
Safety factor
6885.71
7342.857
Total weight
48.6 N
140.4 N
0.035
OTHER FACTORS:
CHARACTERSTICS
Drop height
Actuator pressure
Failure analysis
Von-misses stress
Factor of Safety
ANALYTICAL VALUES
3.22x10-2mm
13.98 bar
=0.343Mpa
y
=15.58Mpa
e
N=17.65
6.1. CONCLUSION:
During the designing, manufacturing, and testing of the rover,
much was learned about what it takes to employ a pneumatic jumping
to the motor issues, testing results yielded that the rover lands
approximately flat relative to the launch surface 90% of the time. the
majority of the current suspension system was designed to
allow for in flight reorientation and landing, which means the
majority of the current suspension system is rarely utilized.
3. the containment area used in housing electronics and pneumatics
would need to be enclosed and ideally combined into one unit instead
of two. It would be beneficial to the pneumatic system if
the majority of the pneumatics could be run inline instead of jumping
to odd orientations in order to minimize tubing necessary to transport
high pressure air.
4. the application and use of co2 gas should be employed instead of
compressed air, with possible research into liquid co2 or dry ice as
propellant, which means introducing thermal insulation or even
thermal heating, into the pneumatic line to keep the co2 from freezing
when released from a pressurized container.
5. large improvements can be made to the electrical system including
the addition of solar panels to charge batteries, use of pressure and
temperature sensors to regulate gas pressure and consistency.
s.no
1
2
Material
Quantity
Aluminium plate 2
cost
INR 300
Pneumatic
(300x100x1.5)
1 ( bore
INR 900
actuator
20mm, stroke
Solenoid valve
3 inch)
A.C type
INR 300
4
5
COST REPORT:
REFERENCE:
Connectors
Pipe fittings
TOTAL
3
1 ( 3m )
INR 150
INR 100
INR 1750
PHOTOGRAPHY: