Lindsay Epstein

Shirley Lu
2.77 Spring 2019

FPGA 4: Flipping Car

The center of mass of the car can be changed by moving the mass block.
The location of the center of mass affects the angle at which the car will
flip. The wheels are sized such that they are symmetric about the body
of the car so that even if the car is ‘upside down’ they make contact with
the ground. Reciprocity is used so that when the car flips (), the center
of mass is moved forward and downward, making the car less
susceptible to flipping and more stable ().
Deterministic Design Process
Functional Req. Design Parameter Analysis & Ref. Risks & Counter Measures
Demonstrate - Flipping Car Center of mass All principles not seen in
centers of action, calculation system  Choose simplest
- Balancing Platform system that clearly includes all
symmetry, Moment balance
reciprocity Car does not flip before it
FUNdaMENTALs
slides  Shift COM far enough
book
back that it flips at low angles

Stay within time Simple and quick fab: DFM and DFA, Hard to fabrication  Design
limit availability of with few components, simplest
- Laser cut vs. mill
machines machining operations
- Few parts

Close form Error measurable with Center of mass and Want distinct difference
solution basic tools (level) flip angle prediction between angles of flip 
heavy, movable mass
1
Design Sketches / Concepts

Flipping Car Concept ✔ Balancing Platform Concept ✖

2
MODEL

3
Analysis
Critical Analysis:
- Center of mass of car – modified by changing the position of the movable weight
- Moment balance – used to calculate the angle at which the car will flip (when COM moves behind back wheel contact)

4
DETAILED DESIGN
Mass Block – movable block of
steel to effectively move the
center of mass
Wood Body – has 3 sets of
holes to locate the mass block
at 3 locations, offset from the
center, to vary center of mass
Wheel – designed to be large
enough so that no parts of the
car hit the ground when flipping;
rigidly fixed to the wood body
(i.e. does not rotate) so we can
isolate flipping (exclude slipping
and rolling effects)
5
MANUFACTURING

Simple fabrication while

effectively demonstrating
FPGA principles
- Parts are laser cut (no
post-processing
operations required)
or bandsaw + drill only
- Standard fasteners in
clearance holes for
ease of assembly
Most Critical Part: Wood Body
- Has different locations to put to the mass
block, effectively shifting the center of mass 6
MEASUREMENTS
Measured vs Theory

mg FN, front
FN, rear

• X = COM of car (calculated as previously shown)

• Car flips when COM is to the left of the rear
wheel contact point and FN,front = 0

7
SUMMARY
TIME BUDGET
- General trend in data measured
matches expected values
- Angle to tilt is significantly higher once Category Time [hours]
the car has flipped because the center Design (Individual + Peer Review + Final) 2
of mass is now lower CAD 1.5
- Possible sources of error: Analysis 1.5
- Mass estimates inaccurate due to Fabrication + Assembly 7*
use of average known density for a Testing 1
given material, did not account for Documentation 2
removed material (holes cut out) Total 15
or added material (fasteners)
- Some slipping of wheels
*Due to laser cutter not functioning properly in
Makerworks and Architecture Shop 8