Arson Robot

Matt Boyden, Tim Crowley, Andrew Hollyer

PROBLEM STATEMENT

Design and build a robot to assist in State Police

arson investigations. The robot must be able to:

• navigate inside a burned building

• carry and protect a hydrocarbon sensor

• take samples of charred material

CURRENTLY AVAILABLE•MANY VEHICLES ARE AVAILABLE

•MOST DO NOT PROVIDE ROOM

FOR ADAPTION OF THE

HYDROCARBON SENSOR

•VEHICLES ARE HIGH PRICED

KEY SPECIFICATIONS1. Can travel over debris at an incline of up to 30°2. Can travel under debris that is no less than 1½ ft

above the driving surface3. Can take samples of charred debris ranging in size

from ash to small fragments of wood with a max weight of 2 lbs

4. Carries and protects hydrocarbon sensor5. Controllable from a distance of up to 50 ft6. Sample collector can be decontaminated7. Under two feet wide8. Light weight (under 60 lbs)

POSSIBLE SOLUTIONS

•TRACKED VEHICLE WITH UMBILICAL CONTROLS AND POWER AND A BUCKET FOR SAMPLING

•LARGE TIRED VEHICLE WITH ONBOARD

BATTERY POWER AND A GRAPPLE FOR

SAMPLING

MATRIX

Travels over debris

Travels under debris

Can take samples

Carries hydrocarbon sensor

Controllable fro

m a distance

Will not ti

p over

Can be decontaminated

Less than tw

o feet w

ide

Under 60 lb

s

Total

Tracked Vehicle w/ Umbilical power and controls and bucket

5 5 5 5 5 4 5 5 5 44

Balloon Tires w/ onboard battery and a grapple

3 5 5 5 5 3 5 5 5 41

Scale is from 1 - 5, 5 is best, 1 is worst

ORDER OF OPERATIONS

1. BUILD A VEHICLE CAPAPLE OF MEETING THE

SPECIFICATIONS

2. PROVIDE A MOUNT FOR THE HYDROCARBON

SENSOR AND PROVIDE AN AUDIO FEED TO

THE OPERATOR

3. ENABLE THE VEHICLE TO TAKE SAMPLES

EXPERIMENTS & CALCULATIONSCoefficient of friction (μ) = .8

Approximate Weight (w) = 56 lbs

Hub Circumference (C) = 3π in.

Hub Radius (r) = 1.5 in.

Desired Maximum speed (V) = 84 ft./min.

Gearing Ratio (VR) = 3:1

Axle Diameter σ = MC/I = 1210 psi use Dia = 3/8 in

Force (F) required to move robot = μw = (.8)(56 lbs) = 44.8 lbs

Torque (τ) required to move robot = Fr = (44.8 lbs)(1.5 in.) = 67.2 in·lbs

Rotational speed (ω1) at outside of hubs = CV = (3π in.)(84 ft./min.) = 107 rad./min.

Rotation speed (ω2) at motor = (ω1)/(VR) = 4.908 rad/min

Rotation speed (n) at motor in rpm = (ω2)(180/π) = 281.25 rpm

Power (P) = (τ)(n)/63,000 = (67.2 in·lbs)(281.25 rpm)/63,000 = .3 hp

RESEARCH & DESIGN

RESEARCH DONE ON TRACK SYSTEMS SHOWED THIS SYSTEM

AS A POSSIBLE SOLUTION.

1 2 3 4

PARTS DESIGNED FOR THE TRACKS

HUBS FOR THE TRACK

•MODELED IN

INVENTOR

•TURNED ON LATHE

AND KNURLED FOR

FRICTION

•FOUR DRIVE HUBS,

FOUR IDLERS

BUILDING THE VEHICLE

MOTORS DONATED

•12 VOLT

•6 RPM

•900:1 GEARBOX

•90 in-lb TORQUE

•2 AMPS

WIRING OVERVIEW

FUSE

SWITCHSWITCHBATTERY

+ -

BATTERY

+ -

MOTOR MOTOR

VIDEO CLIP

STAIR TEST

NEXT GENERATION

• POSITIVE DRIVE TRACK SYSTEM

• LARGER DRIVE SHAFTS

• EASIER ALIGNMENT OF TRACKS

• LIGHTER AND BETTER BALANCED FRAME

CONCLUSION

THANKS TO:

• PROFESSOR SAM COLWELL

• ROV TECHNOLOGIES inc.

• OESCO inc

• Dr. DAWN CARLETON

• PROFESSOR PAUL JOHNSON

• PROFESSOR MARY WALDO