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MARSUPIAL Preliminary Detailed Design Review

Carnegie Robotics LLC.#10 40th Street

Pittsburgh, PA 15201

Jared RabyNico Gallardo

Chris GriffinSean Greenslade

Wesly Rice

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Agenda

• Introduction• Detailed Design

® Tracks® Wireless Node Payload® Wireless Node Deployment System® Electrical Systems

• Questions

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Introduction

• MARSUPIAL Tracked Rover for CRL• Scope

® Suspended Track System® Wireless Node Payload® Electrical Systems® Odometry

• Deliverables® Suspended Track System® Mesh Network Payload

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Tracked Suspension System• Suspension

® Rugged against impact shock® Various environmental areas® Climb obstacles® Self Contained

– IP Rated seals

• Drive-Train® Off the shelf motors® Meet speed and torque requirements

– Simple gearing® Integrated electronics

– Odometry

• Tracks® Proper materials

– Coef of friction– Material stretch

® Outdoor resistant– Chemical and physical ruggedness

® Ease to install and remove

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Tracked Suspension System• Drive-Train

® Required Speed– Min of 5mph on level

ground® Require Torque

– To move 150 lbs of robot and payload

® Off the Shelf Motor– Reduce overall price

® Realistic Gear Train– 8.0:1 – 12.0:1– Planetary

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Tracked Suspension System

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Wireless Node Payload

• Droppable Node® OLinuXino – 575 MHz ARM Core

– Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol– USB Wi/Fi adapter– Buck converter– Li-on battery providing upwards of 6 hours of runtime

• Deployment System® Still in development

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Wireless Node Deployment System

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Power Management Systems

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Questions