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MEGR 3156 TEAM 2

Memo #2

Phillip Davis


Jennifer Adams
Ahmad Alquraini, Nicolas Hammann, Kindi Ketner, Tyler Lambeth, Jackson Stone,
and Nicholas Stroupe


January 23, 2017


Junior Design Robot Concept/Subsystem Analysis

This memorandum lists subsystems of the robot, two possible configurations per subsystem,
and the primary and secondary team members for each subsystem. This memo also lists
critical calculations for the lift system that need to be completed as well as important design
issues needing review.
Each subsystem of the robot (drivetrain, lift system, control system, and chassis) has two
possible designs that the team considered when brainstorming concepts.
In the drivetrain subsystem, the two possible configurations are:

Four servo motors, one on each wheel of the robot, giving each wheel its own motor
and individual control by the user.

Two servo motors, one on each side of the robot, placed in the middle of the chassis
that turn and rotate gears that are directly attached to the wheels.

After reviewing these two concepts, team two favors the two servo motor option. It would be
more sufficient given the design specifications with emphasis on the limited battery and weight.
Tyler is the individual responsible for this subsystem and will receive support from Kindi.
Another subsystem of the robot is the lift system. The two concepts the team reviewed are:

A linkage system that mirrors a SkyTrak lifting mechanism. A Tamiya motor would lift
the pallet upward and keep the forks level during the lifting process. A servo motor is
used for a locking mechanism, with a linkage attached to the main pivot to keep the
lock level while the lifting system is in motion.

A lead screw raising mechanism that rotates with a servo motor. It would raise the
pallet up and down with the servo motor mechanism serving as the locking system.

By looking at these two options, it was determined that the linkage system would be the most
effective design. The linkage system seems like a simpler design that also will help with the
stability of the robot when the pallet is being raised. Nicolas is the individual responsible for this
subsystem, with Jackson as support, performing calculations and research.
The calculations that Nicolas and Jackson need to complete in order to design a successful
and effective lifting system are:

Work required to lift the pallet off the ground and off the three-inch wood step. These
calculations will help team two understand the amount of power available/used during
this process.

Torque required for the motor to raise the pallet will help the team develop a better
understanding of what specific motor needs to be purchased. This will ensure that it
operates at peak efficiency.

Moment calculations on the linkage arms, as well as, deflection forces when the pallet
is fully raised. This will help team two understand how thin the linkages can be
machined in order to optimize the design.

For the control subsystem, team two reviewed these two possible options:

Arduino Uno microcontroller motherboard

Raspberry Pi general purpose computer

After discussing with previous students, and reviewing what is needed from our
microcontroller, team two believes the Arduino Uno will be sufficient for the tasks needed to be
performed by the robot. The Raspberry Pi has more potential, but involves more coding than
the Arduino and therefore is far more complicated. Kindi is the individual from team two who is
responsible for this subsystem, with the support of Ahmad for calculations.
The final subsystem of the robot is the chassis. Two concepts that team two reviewed when
looking at designs for their robot are:

Rapid prototype


Team two prefers using a rapid prototype chassis for their design because of its lightweight
characteristics, as well as the fabrication time saved by not milling an aluminum chassis. If the
team chose to use aluminum, the milling process would have to be outsourced with a supplier.
Use of a supplier may not prove to be time or cost efficient. Nicholas is responsible for the
chassis sub-system, with the CAD design support of Jennifer.
Issues that team two believe are most critical in order for the robot to successfully navigate the
course are: reviewing the center of gravity, understanding the battery power available, and
budgeting the costs of all the components. With the large pallet load being lifted, team two
understands that the center of gravity of the robot, loaded and empty, will be critical for the
robot to successfully traverse the incline, as well as raise the pallet without tipping the robot.
Understanding the power readily available with only four AA batteries is another major issue to
address. With the robot needing to traverse the course, raise the pallet twice, and travel up an
incline, a lot of power will be needed. The task of deciding which motors to use in order to
maximize efficiency, while producing enough torque to travel up the incline successfully, is very
important. Another issue team two finds to be critical is the budget plan. With so many
components in the linkage system, and a minimum of four motors needed, budgeting
everything before implementing the design will be crucial in making sure quality motors and
parts can be bought and used.