ME4683 Project Deliverable 1

2016-10-07

Nathaniel Despres
3422731

Preliminary mechanical design concepts

For the Mechatronics application laser tag tank project, the preliminary
mechanical design aspects, that need to be addressed, consists of track
geometry and layout; gearbox and sprocket positioning; battery sizing and
positioning; turret design and positioning, and electronic board positioning.
The design, which will likely be adopted for the track setup on either sides,
consist of using one small sprocket wheel and three large road wheels, see
figure 1. The track geometry can also be seen in the figure 1. The gearbox is
positioned, as seen in figure 1, in the front of the tank in order for the
reaction torques on the gearbox help reduce the tanks tendency to pitch up
while accelerating forward. This is due to the fact that the sprocket is
rotating counter clockwise during forward motion, which means the reaction
torque on the gearbox will be clockwise. This orientation of the gearbox also
places the two brushed DC motors low down into the chassis, which helps
maintain a lower center of gravity. This is also the reason that the battery
has been placed centrally in the bottom of the chassis.

Figure 1: Tank Layout

ME4683 Project Deliverable 1

2016-10-07

Nathaniel Despres
3422731

The turret will consist of two servo motors, one for the x-axis and one for
the y-axis. The y-axis servo will be positioned as seen in figure 1. This y-axis
will be positioned in the same axis as the axis of rotation of the tank. This will
prevent the laser coming out of line with the target, while the tank is rotating
on its axis. The x-axis servo will be mounted onto the output shaft of the yaxis servo. The electronic control boards will be positioned as seen in figure
1, in order reduce to reduce any interference generated by the brushed
motor. The chassis of the Tank will first be 3d printed in PLA, in order to test
fit. And, if deemed necessary, then it will be printed in either polycarbonate
or carbon fiber reinforced PLA.
The value added aspects that are being considered are increased speed
and acceleration of the tank, a type of automation for the motion of the tank,
and a particular mode for the turret. The thing, currently being considered in
regards to increased speed, is an upgrade in brushed DC motor with properly
sized battery to handle the increase in current draw. The automation of the
tank motion would consist of the controller recording the commands for
motion during a certain length of time, and then repeating the commands by
itself. The particular mode for the turret would consist of the turret pointing
in the same direction even though the tank is rotating.

Project milestones and objectives

The preliminary mechanical and electrical interfacing concepts and circuit
schematics, with preliminary control algorithm and flowchart, will be done by
October 17. The mechanical design and construction will be done by October
24, followed by the detailed report of final mechanical design and

ME4683 Project Deliverable 1

Nathaniel Despres

2016-10-07
3422731
demonstration of its function on October 31. The full functioning of the tank
and the turret without the value added aspects will be done by November
14. Finally, on December 5, the final report and the tank with the value
aspects will be done.