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Targets

  • Be able to climb up a 20-degree sand slope

  • Be able to traverse flat ground at an average speed of 2 m/s at least

Because there are no specifically specced obstacles that the drivetrain must overcome at the competition, we should focus on determining the limits of the Rev1 model and gauge if we are satisfied/dissatisfied.

Theoretical Capabilities

  • Top speed of 1.3 m/s

    • Assuming 10% efficiency loss per stage applied to the motor running at 80% efficiency (which is its efficiency when operating at the rated speed)

  • Capable of climbing up 19-degree grass hills without treads

  • Capable of climbing up to 11-degree sandhills without treads

Test Plan Overview

  • Speed testing with the aluminum build will be an estimate, since the mass of the rover will be significantly heavier than the carbon fibre version

Goal

Data to collect

Characterize the current build

  • Determine overall mass

  • Determine the rover’s centre of mass for each configuration (unloaded with mechanisms, arm mounted, science mounted)

    • Build a teeter-totter that the rover can be placed and shifted around on. CoG is located when it balances

  • Determine average rover speed on flat ground

  • Determine average rover speed on a hill of a known angle

    • Can use leveler app on phone to obtain an estimate of the angle

Determine optimal tread pattern

  • Speed of traversal on a hill of a known low-angle

    • Create multi-factor design of experiments (or something similar) to compare significance of different tread styles and combinations (i.e. no tread or different tread on the front wheels vs back)

  • Qualitative ability to climb a known high-angle hill

    • Can it be scaled or not with the current tread configuration?

  • Keep track of how many tests are performed with the tread style before it wears and produces different performance

Determine robustness of system (destructive)

  • Differential bar performance

    • Create an aggressive rocking of the chassis with an abrupt stop from a high speed

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