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mech.html
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---
layout: page
title: Mars Rover Team, IIT-Bombay
permalink: /mech
---
<!-- Service Start -->
<section id="service2">
<div class="container" align="center">
<div class="row">
<div class="section-title">
<h2 id="Internal_Link">Mechanical Subsystem</h2>
<p>Mechanical Subsystem roughly comprise of</p>
</div>
</div>
<div class="row " align="center">
<div class="col-sm-2 col-md-4">
<div class="service-item">
<i class="ion-ios-gear"></i>
<h4><a href="#RoboticArm">Robotics Arm and End Effector</a></h4> <br/>
</div>
</div>
<div class="col-sm-2 col-md-4">
<div class="service-item">
<i class="ion-ios-gear"></i>
<h4><a href="#Suspension">Suspension</a></h4> <br/>
</div>
</div>
<div class="col-sm-2 col-md-4">
<div class="service-item">
<i class="ion-ios-gear"></i>
<h4><a href="#Bio-Assembly">Bio-Assembly</a></h4> <br/>
</div>
</div>
<div class="col-sm-2 col-md-4">
<div class="service-item">
<i class="ion-ios-gear"></i>
<h4><a href="#Chassis">Chassis</a></h4> <br/>
</div>
</div>
<div class="col-sm-2 col-md-4">
<div class="service-item">
<i class="ion-ios-gear"></i>
<h4><a href="#Wheels">Wheels</a></h4> <br/>
</div>
</div>
</div>
</div>
</section>
<!-- Content Start -->
<section id="intro">
<div class="container">
<div class="row">
<div class="col-md-6">
<div id="testimonial-slider">
<div>
<img src="img/arm_20.JPG" alt="IMG" height=100% width=100%>
</div>
<div>
<img src="img/arm2_20.JPG" alt="IMG" height=100% width=100%>
</div>
</div>
</div>
<div class="col-md-6 col-sm-10">
<div class="block">
<div class="section-title">
<h2 id="RoboticArm">Robotic Arm and End Effector</h2>
</div>
<p>
<ul style="list-style-type:circle">
<li>The arm has 6 degrees of freedom and is made of plates with trusses and reinforcements to endure torsional and bending loads.</li>
<li>The Arm is highly optimized to meet the requirements of the tasks and at the same time have minimal weight.</li>
<li>The arm has been designed and tested to lift 5kgs of weight and can reach up to 1 metre above the ground and 10 cm below the surface.</li>
<li>The 3-fingered end-effector has been designed to grip 5kg objects and also toggle knobs and switches.</li>
<li>The curved finger design was arrived at after numerous iterations using CAD and simulation software.</li>
</ul>
</p>
</div>
</div><!-- .col-md-7 close -->
</div>
</div>
</section>
<section id="intro">
<div class="container">
<div class="row">
<div class="col-md-6 col-sm-10">
<div class="block">
<div class="section-title">
<h2 id="Suspension">Suspension</h2>
</div>
<p>
<ul style="list-style-type:circle">
<li>The rover uses an entirely passive rocker-bogie suspension mechanism, which is tried and tested and thus reliable.</li>
<li>A novel 4-bar differential mechanism gives the chassis greater stability and also keeps it level while the rover traverses considerably rough terrain.</li>
<li>The suspension has been designed to climb over rocks of upto 0.5 metre high and traverse slopes excess of 50 degrees.</li>
<li>We are also designing an alternate 4-wheel suspension mechanism that uses differential steer as a backup to the current suspension.</li>
</ul>
</p>
</div>
</div>
<div class="col-md-5">
<div class="block">
<img src="img/suspension.jpg" alt="IMG" height=100% width=100%>
</div>
</div>
</div>
</div>
</section>
<section id="intro">
<div class="container">
<div class="row">
<div class="col-md-6">
<div id="testimonial-slider2">
<div>
<img src="img/bioassembly_2.jpeg" alt="IMG" height=100% width=100%>
</div>
</div>
</div>
<div class="col-md-6 col-sm-10">
<div class="block">
<div class="section-title">
<h2 id="Bio-Assembly">Bio-Assembly</h2>
</div>
<p>
<ul style="list-style-type:circle">
<li>Under the science task, the rover needs to collect the soil and rocks sample from multiple selected locations.</li>
<li>Soil sample acquisition is implemented as end effector to the robotic arm using drill based approach to collect sample from 10 cm depth, and double scoop based approach to scrape from the surface.</li>
<li>Soil sample is further distributed maintaining the contamination and functionality standards.</li>
<li>Sophisticated machinery is employed as aid for execution of on rover bio assay for living form detection.</li>
</ul>
</p>
</div>
</div><!-- .col-md-7 close -->
</div>
</div>
</div>
</section>
<section id="intro">
<div class="container">
<div class="row">
<div class="col-md-5 col-sm-10">
<div class="block">
<div class="section-title">
<h2 id="Chassis">Chassis</h2>
</div>
<p>
<ul style="list-style-type:circle">
<li>A robust chassis made using lightweight hollow aluminium pipes is compatible to carry the robotic arm and the bioassembly whilst carrying all the electrical components.</li>
<li>The links are so designed that there is no stress accumulation.</li>
<li>It is designed so that all the components mounted on it are modular and can be removed easily.</li>
</ul>
</p>
</div>
</div><!-- .col-md-7 close -->
<div class="col-md-7 col-sm-10">
<div class="block">
<img src="img/chassis_20.jpeg" alt="IMG" height=100% width=100%>
</div>
</div><!-- .col-md-5 close -->
</div>
</div>
</section>
<section id="intro">
<div class="container">
<div class="row">
<div class="col-md-6">
<div id="testimonial-slider">
<div>
<img src="img/wheels.jpeg" alt="IMG" height=100% width=100%>
</div>
</div>
</div>
<div class="col-md-6 col-sm-10">
<div class="block">
<div class="section-title">
<h2 id="Wheels">Wheels</h2>
</div>
<p>
<ul style="list-style-type:circle">
<li>The wheels are capable of traversing through Martian like terrains.</li>
<li>3-D printed wheel has been designed specifically to provide adequate traction and reduce the impact transfer to the suspension system.</li>
<li> The wheel hub design is compact and capable of load transfer while supporting the motor and its shaft.</li>
</ul>
</p>
</div>
</div><!-- .col-md-7 close -->
</div>
</div>
</section>