CeilBot 7 - Sports HallGuillaume MERCIERMassinissa AIT-GHERBI
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
New Interactive player
Playground cleaner
Ball catcher
Kinematics
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:
Kinematics
•In terms of cable lengths, given a speciefied ceilbot position (x, y, z), the required lengths are:
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:
Communication
Can Bus
PowerSpring wire for power & communication
220V
Stabilizator
MotorAccelerometerInertial central & controller
CeilBot controller
Safety issues
•Emergency button•Sensor on the ceilbot to avoid obstacle•Buzzer to prevent somebody
•Skycam: 1 accident with no injury
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
Thank You