Conceptual Design Report

Concept Design Report (Rack Attack) Dr. Christopher Kang, Professor Robert Shaefer, Professor Tsu-Chin Tsao TA: Matthew Gerber Team #17 Gregory Caguimbal Thomas Chun Hunter Jones Fadi Rafeedi Samuel MAE-162D: Mechanical Product Design-I Winter 2016 Mechanical & Aerospace Engineering Department University of California, Los Angeles February 17th, 2016 Figure 1: Team 17; team members pictured from left to right: Greg Caguimbal, Thomas Chun, Fadi Rafeedi, Samuel, Hunter Jones Abstract The purpose of this report is to walk readers through the conceptual design development of an autonomous transporter that carries a golf ball and shoots it as far as possible. High and low- level design requirements are outlined to discuss intended functionality of the transporter. Preliminary design concepts are presented. An Objective Tree and a Pairwise Comparison Chart are then used to select the best concept based on desired qualities. CAD models of the chosen design are shown. Preliminary calculations for the drive and launch systems are formed and discussed to prove the robot’s ability to succeed at accomplishing the proposed task. iii Table of Contents Abstract .............................................................................................................................. iii List of Figures ..................................................................................................................... v List of Symbols .................................................................................................................. vi List of Tables....................................................................................................................... x 1. Introduction ............................................................................................................... 1 1.1. The Challenge ........................................................................................................... 1 1.2. Literature Review ...................................................................................................... 3 1.3. Our Design Solution .................................................................................................. 6 2. Design Concept ......................................................................................................... 7 2.1. High Level Design Requirements ............................................................................. 7 2.2. Low Level Design Requirement ................................................................................ 7 2.3. Preliminary Design Concepts .................................................................................... 8 2.4. Selection Criteria and Process ................................................................................. 12 2.5. Selected Design ....................................................................................................... 14 2.6. CAD Models ........................................................................................................... 16 3. Preliminary Calculations ......................................................................................... 19 3.1. Drive System ........................................................................................................... 19 3.1.1. Device Parameters ............................................................................................... 21 3.1.2. Friction Coefficients ............................................................................................ 22 3.1.3. Tractive Forces .................................................................................................... 23 3.1.4. Move Profile ........................................................................................................ 24 3.1.5. Propulsion Force .................................................................................................. 30 3.1.6. Propulsion Torque ............................................................................................... 33 3.1.7. DaNi Comparison Torque ................................................................................... 36 3.1.8. Steering Calculations ........................................................................................... 39 3.2. Ball Delivery System .............................................................................................. 44 3.2.1. Relevant Ball Delivery Sub-System Calculations ............................................... 46 4. Summary and Conclusions ...................................................................................... 44 5. References ............................................................................................................... 54 6. Appendix ................................................................................................................. 55 iv List of Figures Figure 1: .............................................................................................................................. ii Figure 2: .............................................................................................................................. 2 Figure 3: .............................................................................................................................. 3 Figure 4.. ............................................................................................................................. 5 Figure 5: .............................................................................................................................. 9 Figure 6: .............................................................................................................................. 9 Figure 7: ............................................................................................................................ 10 Figure 8: ............................................................................................................................ 11 Figure 9: ........................................................................................................................... 16 Figure 10:. ......................................................................................................................... 16 Figure 11: .......................................................................................................................... 17 Figure 12:. ......................................................................................................................... 17 Figure 13: ......................................................................................................................... 19 Figure 14:. ......................................................................................................................... 21 Figure 15:. ......................................................................................................................... 23 Figure 16:. ......................................................................................................................... 24 Figure 17: ......................................................................................................................... 29 Figure 18:. ......................................................................................................................... 29 Figure 19 : ........................................................................................................................ 34 Figure 20: . ........................................................................................................................ 36 Figure 21: .......................................................................................................................... 38 Figure 22: .......................................................................................................................... 39 Figure 23: . ....................................................................................................................... 40 Figure 24 :. ........................................................................................................................ 41 Figure 25: . ........................................................................................................................ 44 Figure 26: .......................................................................................................................... 45 Figure 27:. ......................................................................................................................... 45 Figure 28: ........................................................................... 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