EuSEC European Space Elevator Challenge. Teamname & Logo Edit via Slide-Master Slide 1

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1 EuSEC European Space Elevator Challenge Teamname & Logo Edit via Slide-Master Slide 1

2 Team:Aoki Bravo B Climber Name:SHINYA Nihon University College of Science and Technology Department of Precision Machinery Engineering Aoki Lab Member:M1 Kohei Nakadai M2 Shinya Tanaka EuSEC European Space Elevator Challenge Teamname & Logo Edit via Slide-Master Slide 1

3 Size H W T: mm Weight : 4.6 kg Climber last year 3 Motor KEYENCE LUXON 6.5T-D Motor Drive Brushless DC Motor Max Power KEYENCE TACHYON Battery HYPERION Li-Po 11.1[V] 3Cells 35C 5000 [mah] 380[W]

4 The problem Using a worm gear to consider safety. Become too inefficient. Adopted the two motors. Was not able to interfere with the running of sync. Mounting to the tether. Took time to set up too many threads. Adoption of a soft roller. Partially peeled by the load. Structure also could not be replaced.

5 The concept of a new climber Efficient driving mechanism Smooth to the detachable tether Emphasis on stability rather than speed Replace worn rollers allow Consider the balance of approximately

6 Mechanism. Provide an idea of the mechanism of climber using the LEGO bricks. 1 ギアで上下の 動作を同期 2 平行に動作 3 Using a parallel link mechanism is adopted.

7 Creating a mock-up Rough shape to create an image of climber. Determine the approximate shape. And determining the target weight and size. Selection of motor starting. Start creating the control circuit.

8 Design and manufacture Design by Root / ProCAD. NC machining can be used for raw data. NC milling machining of parts from CAD data. Minute orders can not be processed by the NC. Parts requiring special processing such as baking urethane parts and precision is required, such as ordering axis.

9 Control circuit fabrication Use AKI-H8/3664f. Small circuit boards can be made smaller. Control PWM. Will gradually accelerate the motor control PWM. Touch sensor. The touch sensor senses the highest point. Begin the descent. The motor and power supply. Prevent the effects of changes driven by the motor voltage.

10 Improvement of motor drive. MAXON pure motor drive is a very expensive High-performance motor drives and inexpensive improvements. mproved motor drive sumo robot Product motor amp board Viston VS ー WRC003 Rated 16V Maximum current 41A Significant cost

11 Improvement of motor drive times the capacitance of the bootstrap From 47W to 150W power consumption of the FET rated output 16V 25V Maximum current 41A 70A Because of the Maxon motor is small inductor. Need to be fine when the control pulse width PWM.

12 Summary Weight 5.0kg Body dimensions (length width height) 580mm 215mm 230mm Motor MAXON DC brushes motor RE35 Battery 24V rating Output 90W HYPERION-Po Battery Li-made Voltage 22.2V (6S) Capacity 5000mAh

13 Summary 2 Top speed 1.356m / s when the weight 5.0Kg Control scheme By AKI-H8/3664f The PWM control Acceleration of the six phases of both rising and falling Inversion method Touch-sensor inversion Inversion by Timer In a given time and even incapacitated Start descent

14 Structure Upper and lower roller gear for synchronization. The symmetrical behavior is driven by a parallel link mechanism driven rollers. Open side of the climber. Pressing force adjusting mechanism for the spring. When involving the cabinet also acts as a suspension. Provide a smooth entry into the tether.

15 Lift test Nihon University School of Building 7 bridge.

16 Thank you for your attention.