MENG 492-Capstone Team Presentation

1. Eastern Mediterranean University Department of Mechanical Engineering MENG 492-Capstone Team Presentation Prepared by TEAM CHROME Fall 2012/2013

2. Welcome to our Presentation Project Supervisor: Lec. CaferKizilors Presented By:

3. Brief Introduction and Background • History • Aim and Objectives • Type of Stair Leveling Robots Tank Tread The Spider Robot

4. Tri-Wheel Stair Leveling Robot Design Process Assembly Test

5. 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

6. Tri-Wheel Stair Leveling Robot Value of X Design • Calculations: • Size • Buckling, Shear and Stress Analysis • Power and Torque • Transmition System • Frame • Calculations: • Gear Where H is power d is gear diameter (58 mm) n is rpm Calculations

7. Tri-Wheel Stair Leveling Robot Design • Material Selection and Bearing: • Material Selection Castermid Gear Material Shaft Frame Tri-Wheel Body Ball Bearing Material Selection and Bearings Courtesy of Polikim Industry

8. Tri-Wheel Stair Leveling Robot Design • Electric Motor and Battery Self Locking Worm Gearbox Electric Motor and Battery

9. Tri-Wheel Stair Leveling Robot Design • Transmition • Mechanism Transmition Mechanism ANSI Standards for Chain

10. Tri-Wheel Stair Leveling Robot Design Process Tri-Wheel Shafts Gears Keys Frame

11. Tri-Wheel Stair Leveling Robot Design Process Tri-Wheel Bushings

12. Tri-Wheel Stair Leveling Robot Design Process Shafts Secondary Shafts Primary Shafts Motor Shafts Gear Holders Frame

13. Tri-Wheel Stair Leveling Robot Design Process Gears • Transmitting • Idle

14. Tri-Wheel Stair Leveling Robot Design Process Assembly Frame and Housings Pillow Block Bearing Housing

15. Tri-Wheel Stair Leveling Robot Design Process 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 Assembly

16. Tri-Wheel Stair Leveling Robot Design Process Assembly Power Drive, Motor ,and Battery Assembly

17. Tri-Wheel Stair Leveling Robot Design Process Assembly Chain ANSI 25 2x0.70 m 2x0.70 m

18. Tri-Wheel Stair Leveling Robot Design Process Assembly Controller PololuTReX Dual Motor Controller DMC01

19. Tri-Wheel Stair Leveling Robot Design Process Assembly Test

20. Tri-Wheel Stair Leveling Robot Improvements

21. 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.

22. Thank You all for coming to Our Presentation