This Mobile Sensor Platform (MSP) includes several minor modification of the 2nd gernation of MSPs. All of the MSPs carry devices which enable imaging, distancing, and wireless communication functions. The Image processing algorithms help the mobile sensor understand its environment. A group of these sensors can be coordinated to better react to or reason about real-world phenomena. Most of the existing sensor network testbeds are fixed. The few mobile testbeds either have limited processing capability that prevents them from running interesting and practical applications like target tracking, sensor deployment, and other mission-oriented tasks; or that they are too costly for group deployment. AICIP group will design and implement a mobile sensor network testbed that can provide sufficient processing capability for both 1-D signal processing and 2-D image processing at low cost (<$500 each platform).

MSP Construction Photo Log

Tuesday, July 31, 2007

Mounting the Wheels: Tuesday July 31, 2007

















The # 6-32 1/2" screws were the best fit for the hard drive. The drive is now mounted on the vehicle. I've included washers and hex nuts to contribute to the rigidness of the chassis. That alone has increased the stability of the vehicle. One word of caution here, ensure that the support bolts and hex nuts are all torqued as evenly as possible. Without observing this precaution it is very possible to bend the entire chassis.

I ran into a slight problem while attaching the wheels to the drive shaft of the motor.
As is the standard, there is a set screw on the drive shaft extension. This extension secures it to actual drive shaft of the motor. The drive shaft has a flat spot which lends itself well to maintaining a firm friction contact with a set screw within the drive shaft extension.
The wheel also has set screw meant to lock down upon the opposite side of the drive shaft extension. Unfortunately in my case, the set screw was unable to maintain a good grip on the extension drive shaft-no matter how hard I torque down the set screw. The set screw actually spins freely within the plastic wheel axle which allows the wheel to freely spin independent of the drive shaft.

Observing old designs: It looks like they used a plastic sleeve inside the wheel axle and some sort of epoxy.




5 comments:

Paul said...

So, I think a PVC reduing coupling may do the trick here.

http://plumbing.hardwarestore.com/52-333-pvc-unions-and-couplings/reducing-coupling-243204.aspx

Paul said...
This comment has been removed by the author.
Paul said...

Arnold 6" x 1.50" Universal Lawn Mower Wheel
Sears item #07164976000 Mfr. model #650-P
6" x 1.50" Universal Lawn Mower Wheel. 50 lb. Load Rating. 1 3/8" Plastic Hub Design. 1/2" Nylon Bearing. Diamond Tread Pattern.

Paul said...

Another option would be to use wheel collars to connect the wheels to the drive shaft extension bar.

http://www2.towerhobbies.com/cgi-bin/wti0093p?&C=QDD

Paul said...

I bought a couple of wheel collars to use to hold the wheel on the extesion shaft.

Results: The wheel stayed on the shaft but the wheel did not move at the same angular rate as the shaft.

I'm now thinking a tension pin could be inserted both through an existing hole in the wheel hub and a drilled hole in the extension shaft.