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Post by Devonator on Dec 5, 2012 4:23:27 GMT -5
Requirements
- Max speed: first target: 0.5 m/s, second target: 1 m/s @ max load, max inclination
- Max acceleration: First target: Accelerate to 0.5 m/s in 0.5 s, second: 1 m/s in 1 s
- Max inclination: 7.1 degrees (ramp for powered wheelchairs)
- Possibly lower torso COG during climbs and descents
- Ground discontinuities: 1†step, bump, or gap (max for wheelchairs is 0.5â€)
- Turn radius: 0
- Footprint: Max 60 cm x 60 cm (2 ft x 2 ft) bounding box. Can be longer if required, not wider.
- Ground materials: Hardwood, linoleum, tile, carpet (thin and thick), small gravel, concrete (polished and rough), wooden deck, wet surfaces
- Should have suspension/damping system (requirements undetermined, but should be stable enough for vision system, robot stability, stability of end effectors on arms
Source: ​http://www.brainline.org/content/2008/07/wheelchair-ramp-information.html Concepts- Possible drive methods: Casters, ball casters, 2-wheel differential drive, 4-wheel differential drive, independent wheel pivoting, omni wheels
- Latest idea: 2-wheel differential drive with 4 passive ball casters
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