User:Christiansweet/project3

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Project Preference
Power wheel, Mobile Robot

Problem Statement
''In one or two sentences, describe the project that your group will be working on. Identify which one or two CDIO documents your group will create in this project cycle.''

Project Plan
Briefly describe your group's plan for the next 4 weeks, including the specific activities that will take place each week.

Week 1 Narrative
This week i was assigned with designing ways to attach the linear actuator to the steering wheel of the power wheel. The linear actuator had to be set up in a way to where it was able to turn the steering wheel completely in both directions and attach to the steering frame.    Next time the group meets, i plan on presenting my ideas and completing matrices to decide which idea is the most effective.

Week 2 Narrative
This week I worked no finding the most effective way to attach the linear actuator to the steering wheel so the wheel would have the max turn radius while still being in within the linear actuators power limit. From the linear actuators data sheet it is known that the max lifting force is 100 newtons and the back drive force is 46 newtons. Also from measuring the turning radius of the steering wheel, it was determined that the turn radius is 40 degrees. Wanting the max turn radius for the power wheel, calculations were run and determined that a moment arm would have to extend 8.3 cm from the center of the steering wheel in order for the linear actuator to turn the steering wheel completely. Using torque, the force required by the linear actuator to turn the wheel at a distance of 8.3 cm is equal to 86.6 N, which is within the linear actuator's 100 N limit; however if the power wheel encounters a bump the back drive force is not high enough.  The calculations were completed for a stiff linear actuator, however we have decided to have both of the connections of the power wheel (to the steering wheel and box) free to rotate. This however did not create a problem because the calculations were also completed for when the power wheel is stationary, which makes turning harder.