The basic data and operating requirements are provided below. List any assumptions that you are making for
Question:
The basic data and operating requirements are provided below. List any assumptions that you are making for additional data or operating conditions than the specified values.
Robot Configuration
- Wheeled robot with four wheels (two driven wheels in front, two rear wheels non- powered).
- Robot equipped with two manipulators – referred to as Link1 (mounted to base platform), Link2 (joined to Link1).
- Robot mobility powered by one motor, transmitted via gearing to the driven wheels. Each manipulator is powered by its own motor.
- Robot operating on flat to slight incline, carrying a rated payload (see Robot Design Data Table, below) from one location to another and returning to the original location, repeating this pattern as per the number of trips per hour mentioned.
- Robot manipulators are constructed of the specified material and given cross-sections as provided in the Available Equipment and Material Tables, below.
Robot Design Data Table
Robot weight (does not include payload) | 60 | kgs |
Max weight of payload | 12 | kgs |
Typical distance travelled (one way) | 45 | m |
Time for travel – based on cycle time (max) (one way) | 50 | s |
Number of trips per hour | 5 | |
Peak velocity allowed | 1.5 | m/s |
Type of operating surface | concrete | |
Maximum time to achieve rated velocity | 10 | sec |
Surface Friction Coefficient Crr | 0.015 | |
Max gradient in operating surface | 2.5 | degrees |
Motor efficiency – typical | 90 | % |
Drive train efficiency | 75 | % |
Resistance factor (for typical wheel) | 1.1 | |
Rated voltage of battery | 12 | V |
Minimum hours of battery operation (between recharges) | 2 | hrs |
Incremental power for both manipulator motors combined (as a portion of the drive motor power requirement) | 10 | % |
For Simplicity of Calculation the Following Assumptions May Be Made
- Link2 weight includes the weight of the gripper at the end of Link2.
- Load inertia effect for motor sizing can be assumed to be minimal.
- The torque at the wheels can be assumed to be a single value for the motor sizing calculation (they do not need to be calculated separately for each driven wheel).
Available Equipment and Material Tables
Wheel Sizes Available – Radius (Metres) |
0.12 |
0.15 |
0.20 |
Motor Configurations Available at 750 rpm (Torque) |
1.2 N.m |
1.5 N.m |
2.2 N.m |
Gear Sets Available (Teeth Ratio of the Driving/ Driven Gear) |
12/120 |
10/80 |
8/56 |
Material Data for Manipulator Links
Material for Links: Mild steel with a density of 7500 kg/m3 and Youngs Modulus of 210 GPa.
Link1 | Link2 | |
Cross Section | Square hollow section – 70mm outer width, 50mm inner width | Square hollow section – 50mm outer width, 40mm inner width |
Length of Link | 0.9 m | 0.6 m |
Motors Weight (Driving Link) | 8 kg* | 6 kg |
Maximum Deflection Allowed (With Respect To their Base Point) | 40 mm (from base of Link1 to tip of Link1) | 25 mm (from joint 2 – starting point of Link2) |
(* Note: The motor driving Link1 is located on the base platform of the robot, not mounted on a link.)
Q1 | Calculate the torque required by the robot to move and achieve the rated velocity.
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Q2 | Provide answers for the following:
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Q3 | Provide answers for the following:
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F3 | Assessor feedback: | Assessor feedback: | |
Q4 | Provide answers for the following:
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F4 | Assessor feedback: | Assessor feedback: | |
Q5 | Calculate the battery sizing required to power the robot for the duty cycle specified. Assume no power losses when the robot is on standby (not operating). | (10 marks) | |
A5 | Student answer: | ||
F5 | Assessor feedback: | Assessor feedback: | |
Q6 | What was my overall reflection on this module/unit, and what insights or lessons did I gain that will help me grow in my career? | (5 marks) |
A6 | Student answer: | |
F6 | Assessor feedback: | (marks awarded) |
Income Tax Fundamentals 2013
ISBN: 9781285586618
31st Edition
Authors: Gerald E. Whittenburg, Martha Altus Buller, Steven L Gill