CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.
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Transcript of CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.
![Page 1: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/1.jpg)
CeilBot 7 - Sports HallGuillaume MERCIERMassinissa AIT-GHERBI
![Page 2: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/2.jpg)
New Statement
•Functions:▫Video Recording▫Interactive Player▫Virtual Coach▫Cleanning the sport hall▫Catch balls
•Design:▫4 cables – 4 motors – 4 pulley▫1 stabilizator – 1 arm
![Page 3: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/3.jpg)
New Interactive player
![Page 4: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/4.jpg)
Playground cleaner
![Page 5: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/5.jpg)
Ball catcher
![Page 6: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/6.jpg)
Kinematics
![Page 7: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/7.jpg)
Kinematics• Cable lengths are measured from the top of the
pulleys.
(x, y, z) is the pod position and (xi, yi, zi) is the position of the top of the ith pulley
• The position of each pulley is given by:
![Page 8: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/8.jpg)
Kinematics
•In terms of cable lengths, given a speciefied ceilbot position (x, y, z), the required lengths are:
![Page 9: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/9.jpg)
Kinematics
•For solving this equation we will need 3 actives cables . Here we choose l1, l2, l3 for which (x, y, z) are given by:
![Page 10: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/10.jpg)
Communication
Can Bus
![Page 11: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/11.jpg)
PowerSpring wire for power & communication
220V
![Page 12: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/12.jpg)
Stabilizator
MotorAccelerometerInertial central & controller
CeilBot controller
![Page 13: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/13.jpg)
Safety issues
•Emergency button•Sensor on the ceilbot to avoid obstacle•Buzzer to prevent somebody
•Skycam: 1 accident with no injury
![Page 14: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/14.jpg)
SimulationTennis racket:
Mass 215 gTennis ball
Masse 55 gRadius 3,35 cm
Ceilbot in aluminium1 pipe mass 24,5 kg2 pipe mass 7,4 kgArm part I and II 5,5 kg each
![Page 15: CeilBot 7 - Sports Hall Guillaume MERCIER Massinissa AIT-GHERBI.](https://reader030.fdocuments.net/reader030/viewer/2022032706/56649ef45503460f94c07261/html5/thumbnails/15.jpg)
Thank You