Robotic Platform
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Introduction:
The firefighting robot that our team is developing must be able to navigate a maze, locate a burning candle and extinguish it, then return to its starting location. The platform group is responsible for movement, orientation, power supply, and flame extinguishing functions of the robot. The purpose of this document is to propose our design for these various functions and give an overview of what the platform group plans to accomplish.
Statement of Problem:
Motor Control:
According to the Trinity Firefighting contest rules, our robot must be able to ascend at least a 15 degree incline, and not exceed a width of 31 cm. Since there is no speed limit, nor weight limit, the options for the physical structure of the robot are at our own discretion. By making a rough estimate on the total weight and desired speed of the robot, we start calculations with the assumption that the robot will maintain a speed of at least 0.3 meters a second, and haul at least 2 kilograms of weight. Using this data and the formulas in Table 1 we are able to conclude that the motors must exert 5N of force and draw 1.5W of power. The required minimum torque for the robot is 0...