Choose to design either a 2, 4 or 6-wheeled platform and drive system that can traverse the plants in
the field. You have available 4 batteries of 6V each to configure as desired. Each battery has an AHr
rating that can supply at most 20A-hour at the rated voltage. (For example each battery can provide
20A for 1 hour, 10A for 2 hours, or 40A for 0.5hr, etc...) The wheels used will be 6" in diameter and 3" in
width. The vehicle platform is such that for example a 6 wheeled vehicle wheels are defined as
$W_{LeftForward}$, $W_{LeftCenter}$, $W_{LeftAft}$, $W_{RightForward}$, $W_{RightCenter}$ and $W_{RightAft}$ are the drive wheels and the batteries
(primary center of mass) are located at the center of the vehicle. The overall weight of the vehicle is
~20lbs and the motors are geared using a 50:1 gear ratio with a drive efficiency of 60%. The frequency
response of the motors is ~200Hz. (You can neglect the design of the applicator for this portion of the
design.) Assume the motor is approximately 1.5" in diameter and 3" long. You may assume and drive
configuration of your choice, i.e. Ackerman, Differential drive (Skid steer) etc... (There will be a 20 point
bonus for using Ackerman method of steering)
a. (5) Discuss the rational to your design decision for the wheel and drive configuration. Be
specific and discuss the pro's and con's.
b. (10 pts) Develop a preliminary design of a vehicle to traverse the field to inspect each plant.
Provide estimated dimensions for the vehicle. Include motor design requirements.
c. (5 pts) What is the minimum power rating in horse power to move the robot at least at 2 ft /
sec?
d. (10 pts) How long can the vehicle operate until the batteries can no longer provide sufficient
voltage?
