Our pre-conception

In order to conceive a system that satisfies as best as possible the requirements specification, we started by realizing pre-conception file. In this file, we start by presenting the general architecture. Then we show the design that we want to deepen and we finished with a balance sheet. In this document, we describe all the characteristics of our system and its technical operations. The final conception file will carry all the informations about the deliverables, the documentations, the tests, the computation and the results obtained.

I. Our model

We started by searching on internet the different mobile systems that already exist that can achieve the requirements asked. As a reminder, the requirements are to cross a 30cm high step and a pit of about 30cm long. We found a mobile robot with three wheels on each side as the following figure.

II. How the system works

We are going to deepen the crossing principle that we imagined for our soluton. The previous figure shows the initial configuration, before crossing a step, of our system.

When the mobile base approaches the step, it raises itself and reaches the following figure.

Once it is at this moment, the system continues to move forward in order for the back wheels to cross the step. The mobile base then finds itself in the following step :

It keeps moving forward and raises its back arm and the crossing is over. The system is as shown in the following figure.

All that remains is to cross a pit. To achieve this, the arm located at the back of the mobile base is moved to the front.

It will succeed crossing the step as it moves forward.

In order to achieve both crossings, we thought of motorizing the back wheels, the four front wheels and both pivoting link to tilt.

III. The different possible configurations

We examined different cases for our solution by modifying the different parameters :

For the arm to be able to go from one side to the other of the mobile base, it must have E < B + C - D.

Comparative table :

IV. Conclusion

In order to answer as best as possible the requirements specification, we have searched for a technology that innovates. We thought outside of the box to come up with a solution that the MKX 1 didn't think of.

The different evolutions that our system will have will concern mostly the motorization, not only in the choice of the motors but also in the implementation in the system.