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P12031: Motion Assistive Seating Device for Sailing

Project Team:Steven GajewskiAleef MahmudMitchel RankieChristopher “Chappy” Sullivan

10/12/2011 MSD - P12031

Faculty Guide: Edward Hanzlik Technical Mentor: Kate Leipold Primary Customer: Richard Ramos Secondary Customer: Keith Burhans Sponsor: Mark Smith and M.E. Dept.

Please view our Website for Live Updates:http://edge.rit.edu/content/P12031/public/

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Meeting Date: Wednesday 11/4/2011

Meeting Time: 3:30PM-5:30PM Meeting Location: RIT

Engineering #09-4425

10/12/2011

AgendaDesired Outcome from Meeting: Gather critical Feedback on our progress!

Are we headed in the right direction? Should we change anything before detailed design? Interactive meeting: question or comment as we go!

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Project Description Senior Design Project Data Sheet

Project Description

Project Background: The goal of the Motion Assistive Seating Device for Sailing team is to design, assemble, and test an updated version of the current design for the portable and detachable seating system that empowers the disabled community to experience the true joys of sailing while endowing the functional advantages to compete in sailing competitions and decreasing any hindrances caused by implementing the seating system during competition. The updated design should be a safe and functional improvement upon the current design that meets the requirements of Richard Ramos and Keith Burhans. The updated seating system will go into application for the community of disabled users who wish to sail for leisurely purposes. Depending on the effectiveness of the design, the seating system may receive enough recognition to go into further implementation internationally through the Paralympic games as was the current design after its initial implementation.

Problem Statement: The primary objective of this project is to make improvement upon an existing design for paralympian sailing events. Improvements are desired in terms of lower weight and more functionality.

Objectives/Scope: 1. Reduce Weight 2. Increase and/or maintain the functionality

already available 3. Adapt specifically for C4-5 quadriplegic user

Richard Ramos on a 3 person Sonar keel boat and must meet all IFDS regulations

Deliverables: Analysis and Modeling of current system. Functional prototype that meets the needs. New Design, Drawings (i.e. Cad), Sketches,

Analysis (i.e. FEM), and BOM on prototype.

Expected Project Benefits: Recognition to RIT Mechanical Engineering. Tremendous impact on the disabled

community by empowering them to live more active lifestyles like Richard Ramos.

Excellent hands on learning in product development of medical devices and performance sailing.

Core Team Members: Steve Gajewski Aleef Mahmud – Project Manager Mitchel Rankie Christopher Sullivan – Systems Engineer

Strategy & Approach

Assumptions & Constraints: 1. The team must first understand current

system and sailing interfaces. Working with an existing system will enable the team to properly complete their analysis prior to design of the updated system.

2. Proposed Budget: $1000 3. System must fit Sonar model sailing boat. 4. Solution must utilize materials and methods

that are appropriate for Marine/Sailing applications.

5. Solution must comply with all appropriate requirements and regulations.

Issues & Risks: Project Issues/Risks/Constraints

Project Comprehension by Team o New Project o New Area of Study for Many

Available Resources o Obtaining Resources o Order Parts/Hardware o Lead Time

Time and Performance risks o Design is safe in operation. o Design deliverable within 22 wk.

Project # Project Name Project Track Project Family P12031 Motion Assistive

Seating Device for Sailing

Biomedical Systems and Technologies

N/A

Start Term Team Guide Project Sponsor Doc. Revision Fall 2011

Professor Edward Hanzlik

RIT Funds rev.1

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Customer Needs

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Engineering Specifications

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Ideal material: High corrosion resistance High strength properties Weld-able Common

AA 6061-T6: Has all material qualities we are looking for Very common across all distributors

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Material Selection

Material Modulus

Poisson’s

Tensile

Strength

Yield Shear

Cost (12"x1"x1") [McMaster]

Weld able

AA 6061-T6 70-80 0.33 115 48 83 $6.32 Yes

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Recap: Functional Decomposition

User Device

Portability Attachabl

e

Non Permanen

tAssembly Required

Major Parts

Tiller Strut Tiller Arm Track Platform

Passenger Interface

Seat Cranks

Pedestal Base

Tiller Control

OverrideRotate hand Crank

Ropes Taut

Shifting Weight

Ropes and

Pulleys

Locking Mechanis

mRestrain

User

4-Point harness Hands Feet

Steering column

tilt

Boat

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Recap: System Interface

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Safety

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Detailed Design

Triple Constraint

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Pedestal Base Pedestal base changes

Re-routed lines (new pulley location) Taller support tube Shorter platform

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Track Platform

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Material Properties

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  Young’s Modulus

Yield Ultimate Density

Structural Steel 200 GPa 250MPa 460MPa  Aluminum T6 (MatWeb)

70.0 GPa 270 MPa 395MPa 2823 kg / m3

Plywood (The Engineering ToolBox)

1.6GPa N/A 50 MPa 600 kg / m3

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Richard Swinging Across

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-1 -0.5 0 0.5 1-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1

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Richard Swinging Across

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1 1.5 2 2.5 3 3.5-6

-5

-4

-3

-2

-1

0

Time (s)

Ang

ular

Vel

ocity

(rad

/s)

Angular Velocity vs Time

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ANSYS Work for Richard Swinging

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Rough Waves

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Rough Waves

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𝑌 𝑤 (𝑡 )=𝑦𝑚𝑎𝑥

2sin ( 2𝜋 𝑡

𝑃 − 𝜋2 )+¿

𝑦𝑚𝑎𝑥

2¿

0 2 4 6 8 10 12 14 160

1

2

3

4

5

6

7

Time (s)

Hig

ht

Wave

0 2 4 6 8 10 12 14 16-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1

Time (s)

Ang

le (r

ad)

Angle Of the Boat

0 2 4 6 8 10 12 14 16-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

Time (s)

Acc

eler

atio

n (m

/s2 )

Acc YAcc X

1425N-down25N-Bow

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Rough Waves

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At Stop

At Unsupported

At Middle

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Acceleration

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The Maximum acceleration the system can handle 4.5 Gs

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Acceleration

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Bow 5G Stern 4.5G Starboard 4.5G

Port 5G Bow 10G Combined Starboard and Sten3.5G Mag = 4.9

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The Passenger Interface is a very elaborate subsystem that was further dissected into two sub-subsystems: Crank SystemSeating Support

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Passenger Interface

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Passenger Interface was heavily driven by the user’s dimensions.

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User Dimensions

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“ASO seat pan will be 19 wide x 18 long and about 4" tall” - Colleen Wolstenholm, Aspen Seating LLC

“Seat pan will have a t-nut fastener heated and sunk into the seat on the inside plastic, then a 1/4-20 stainless knob screwing from the outside of the aluminum tabs to the seat.” - Joe Bieganek, Aspen Seating LLC

Aluminum tabs can be welded on to seat plate once we have access to the Custom Seat to align with the bolt location.

Waiting for more details on the custom seat.

10/12/2011

Custom Seat Dimensions

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The Parameters for choosing the seat: Seat must fit within a common interface with the Custom Seat.

Interface will be aluminum flat plate with the dimensions of 20”wide by 18”long. Seat Height cannot exceed 30” Seat must fit within the boundaries of the Sonar Boat. Seat must have minimal weight. Seat must be durable in corrosive environment. Seat must be intended for rigorous activity. Seat cost must be relatively low compared to the market.

10/12/2011

Benchmarking: Seat

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Kirkey 19800 Economy 10 Degree Layback

Versatile mounting. 17.5”wide by 14.5”long by 35”high with

10⁰recline. Weighs 13.5lb Al 5052 has good formability, corrosion

resistance and weldability. Designed for low horse power cars on

small tracks. Stock frame costs $136.60 and the Blue

Vinyl cover cost $68.40. Total estimate is about $205.

Catalog: http://kirkeyracing.com/Kirkey_2009_catalog.pdf

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Benchmarking: Seat

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The Parameters for choosing the seat: Harness must fit with the Custom Seat and Commercial Seat. Harness must restrain user within the confines of the seat. Harness must be accepted by user for final application. Harness must be durable in corrosive environment. Harness cost must be relatively low compared to the market.

10/12/2011

Benchmarking: Harness

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enableyourlife.com Wheelchair Butterfly Chest Harness

Harness intended to attach via 4” adjustable straps which can be mounted on the seat.

Harness is designed to restrain disabled users into their wheel chairs while in movement.

User has already voiced his preference for butterfly type harnesses.

Harness material is a versatile nylon webbing and plastic buckle that should not rust.

Harness cost is very low compared to its competitors.

Catalog: http://enableyourlife.com/wheelchair-butterfly-chest-harness.asp

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Benchmarking: Harness

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Hand Constraints & Attachment

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Used C-5 Grip system as benchmark

System too expensive to purchase

Decided to redesign and fabricate

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Our “C-5” System

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Same functionality Cheaper components Simple solution

Hand Tube

Casing

Bearing

Threaded Insert

Pin Hole

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Bearing Specifications

Max Dynamic Load 2110 lb

Max Static Load 966 lbMax Axial Load 966 lb

Sealed bearing to last in elements

Able to withstand larger loads than applied

Cheap to replace if needed

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Boat Constraints Needed to know boat

dimensions to design everything

Shumway provided non dimensioned drawing

Took real world measurements to scale drawing

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Boat Constraints Cont. From dimensions we

scaled drawing Created the boat itself to

make sure system fits inside

Created a hybrid 3-D drawing to show walls and important features on boat

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Boat Constraints Cont.

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Seat Tilt and Support

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Once boat was laid out design was possible

Decided on permanent tilt for simplicity

Went with 10 degree tilt for comfort and visibility

Seat has built in seat so you are actually tilted 20 -25 degrees

Decided to keep the back of bar in same location

Raised front where pedestal mount is

Therefore system needed to shift forward to prevent contact with sides and traveler

With tilt total height will decrease to miss boom

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Seat Tilt Prelim Design

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Seat Support Design

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Once angle and structure was decided we laid out our support system

Single beam for simplicity Cross beam for support and bearing mount

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Crank Geometry Constraints

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Crank center of rotation was to be placed at location relative to seat

Distance between pulleys was fixed by v-belt length

Width of crank fixed by Richard’s dimensions

Seat was a large factor

Seat issues: Seat drives where

crank is Different seats move

crank (different dimensions)

Where seat plate is located

Tilt created difficult geometry

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Crank Center Location

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Crank located 23” from back of seat and 12” from seat cushion

Assumed 11” torso and 14” from torso

Used 23” so there is play and space for different seats

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Crank Layout Design

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Used Callahan’s system for layout

Shaft set up allows for line drum to rotate as well as steering system to rotate out of the way

Support arm provides strength and constrains rotation of system

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Crank Layout Cont.

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Centered line drum over pedestal

Secured support arm with ball lock pin for easy installation

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Points of Adjustability

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To change crank location the following dimensions must be changed

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Adjustability Cont.

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Grip system will have longer or shorter hand tubes for different should widths

Seat can be moved relative to the plate Harness size can be changed

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Mechanical Advantage:User input force will be amplified

through the pulleys and crank sizes.

Current system amplifies to approximately 85lb output.

Current system will amplifies to approximately 150lb output.

Approximately 75% increase

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Calculation: Mechanical Advantage

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Seat Plate: Aluminum 6061-T6 20”wide by 18”long by .25”thick Analyzed through use of ANSYS

Classic. Assume Fixed Support at weld and

cross beam.Case #1: Assume distributed

Pressure P across entire plate to represent Richard’s weight of 170lb in normal position.

Case #2: Assume distributed Pressure P across half the plate to represent Richard’s weight of 170lb suddenly thrown to one side while in quick rotation.

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Calculation: Seat Plate

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Final conclusion is that the seat will be able to withstand the loading under its current specifications in ideal conditions. No further redesign is recommended at this time.

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Calculation: Seat Plate

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Crank System: Aluminum 6061-T6 Analyzed through use of ANSYS

Workbench. Assume Fixed Support at connection

points.Case #1: Normal 20lb applied by user on

the crank axis.Case #2: Extreme case of 170lb applied by

user on the crank axis to represent his entire weight being pulled against the crank system.

Case #3: Extreme case of 170lb applied by user on the crank axis to represent his entire weight being pushed onto the crank system.

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Calculation: Crank System

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Final conclusion is that the Crank System will be able to withstand the loading under its current specifications. Despite being loaded in the most aggressive scenarios to simulate the entire weight of the user being slammed against and pulled away from the crank, the crank system will still be able to withstand the load.

10/12/2011

Calculation: Crank System

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Original Tiller Strut : Aluminum 6061-T6 Analyzed through use of

ANSYS Workbench. Assume Fixed Support at

connection points. Case #1: Previous load of 85lb

on previous design. Case #2: Enhanced load of

150lb on previous design.

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Calculation: Original Tiller Strut

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Final conclusion is that the Tiller Strut will not be able to withstand the Enhanced load of 150lb generated through mechanical advantage of the new proposed design. Steps must be taken to redesign the Tiller Strut as well to withstand the new load generated in the new design.

10/12/2011

Calculation: Crank System

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Tiller Strut Redesign : Aluminum 6061-T6 Beefed up with Aluminum

tubes. Analyzed through use of

ANSYS Workbench. Assume Fixed Support at

connection points. Case #1: Simulates the boat

going straight under peak load. Case #2: Simulates the boat

turning left under peak load. Case #3: Simulates the boat

turning Right under peak load.

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Calculation: Tiller Strut Redesign

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Final conclusion is that the new Tiller Strut design will be able to withstand the Enhanced load of 150lb generated through mechanical advantage of the new proposed design. The implementation of the square tubes should also work to limit the deformation caused by the accentuated loading to less than 1/8”.

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Calculation: Crank System

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Preliminary Test Plan

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Major Sub-Systems/ Features/ Function1 Weight and Cost2 User Comfort3 Installation4 Normal Sailing Conditions5 Rough Sailing and Worst Case Conditions67

General Template for Testing Function/ Feature Name:________________Date Completed: _________________Performed By: __________________Tested By: ________________________.

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Preliminary Test Plan Cont.

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Preliminary Test Plan Cont.

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Project Plan: MSD I

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Project Plan: MSD 2

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Risk Assessment 1

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Risk Assessment 2

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Risk Assessment 3

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Risk Assessment 4

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Next Step

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Questions and Feedback

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For Richard Ramos: Status of custom seat Timeframe for current

system return Probably reach BOM

cost of $3000

Unknowns and Action Items

10/12/2011

For Keith Burhans: SONAR availability

during Winter for testing phase

For all Stakeholders: Are we headed in the

right direction? Should we change

anything before detailed design?