PROGRESS REPORT

NEEDS OF FEASIBILITY STUDY

It determine the potential of the existing system . It finds or determine all the problem of existing system. To determine all the goals of the system. It finds all possible solutions of the problem of existing system.(that becomes proposed system). It find technology required to solve these problems.

NEEDS OF FEASIBILITY
It determines really which solution is easy for operational from the point of view of customer or employees such that it requires very less time with 100% accuracy
It determines what hardware and software is required to obtain solution of each problem or proposed system. It determines cost requirements of the complete proposed system in terms of cost of hardware required, software required, designing new system, implementation and training , proposed maintenance cost.

TYPES OF FEASIBILITY
Three Types of feasibility study 1) Technical Feasibility.

2) Operational Feasibility.
3) Economical Feasibility.

TECHNICAL FEASIBILITY
SOFTWARES REQUIRED :
1) AUTOCAD FOR MODELLING 2) MATLAB - FOR SIMULATION 3) C or C++ - FOR WRITING PROGRAMME IN MICROPROCESSOR

HARDWARES REQUIRED : It was essential to determine the various components that would be required in the fabrication of the SBPT along with their size, type, material and shape. This was done so as to determine whether the components required would be easily available or not.

TECHNICAL FEASIBILITY
Calculation to Determine R.P.M of motor required:
D=15 or 38 cm R= 7.5 or 19 cm (velocity) v= 2RN/60 m/s, here N is = R.P.M N= 60v/2R v=5m/s max speed N=125.3 R.P.M Thus the R.P.M required is only 125R.P.M, the motors that we had initially planned to use were 750 R.P.M but the above calculations show that a smaller motor of 250 R.P.M will be sufficient. The use of a smaller motor also means that the OSMC used to control the motor will also be smaller thus reducing the cost further.

Technical Feasibility
Motors- 2 geared motors used in electric wheelchairs 300W 24Volt, 2*250 rpm . Pneumatic Wheels -15 (2 no.) Battery-20, 6-cell NiMH packs made for RC cars/ Battery Motor Driver- Open Source Motor Control Steel Pipes S.S steel pipes rectangular S.S steel pipes round Steel Sheets/plates 2ft*2ft Nuts and bolts to fit the above Sprockets and gears. Breaking Mechanism(electronic control and monitoring.) Microcontroller Toolkits+ Testing Equipment

OPERATIONAL FEASIBILITY
In this type of feasibility, we need to take care of two aspects: 1. Human Aspect : Since the transporter will be used for a single person and to reduce the human effort in travelling from one place to another. So we need to take into consideration the following things: Easy to stand on. Easy to steer. Should not cause any fatigue to the person while moving. Should not be too noisy.(since we are using a lot of mechanical systems instead of electrical to reduce cost) Should be safe. Should not cause any damage to the environment

OPERATIONAL FEASIBILITY
2) ORGANISATIONAL ASPECT : Since the transporter is only a concept and in high scale manufacturing this aspect is considered on a bigger scale, we need to take care of only few things: It should be useful enough that it is acceptable for mass production. It should be environmental friendly. It should be affordable. It should appeal to consumers( mall security, in-campus transportation etc.)

ECONOMIC FEASIBILITY
This is one of the most important feasibility and a detailed research is carried on it.

According to our Estimation The Self Balancing Personal Transport will be made for LESS THAN Rs. 25,000

DESIGN
Designing the SBPT a lot of parameters need to be considered and few assumptions are to be made. Also we need to keep in mind the standard size and shape of components to be used. The SBPT needs to be designed accordingly. Let us once more reiterate 1. Propulsion Unit 2. Electrical Power Supply Unit 3. Transmission 4. Steering 5. Brakes 6. Chassis or Platform 7. Wheels 8. Balancing System 9. Controllers and Sensors 10. Driver Interface

DESIGN
1. To start designing the SBPT, first we need to start with the wheels. Since the wheels that we are using are cycle wheels they are not designed to run on motor power, thus a new hub needs to be machined to bolt onto the output shaft of the motors The next step after this is frame building. The frame is arbitrarily chosen to be of size 18*12 The frame is made from Rectangular Pipe of 2*2 of stainless steel Now the frame is welded to a supporting frame on each wheel The support or the frame is then welded to the free wheel joint.. Now the next step is fixing the motors under the frame. Since the motors are very heavy and form the major bulk of the SBPT, apart from the batteries, we thought that placing the motors in a manner that they act like counter weights to the rectilinear motion of the SBPT will be to our advantage.

2. 3. 4. 5. 6. 7.

DESIGN
8. Now to accommodate motors in such a manner the frame is welded not at the center of mass but 1-2 inches below it. 9. This is done to balance the SBPT as much as possible mechanically and thus reducing the dependence on the electronic balancing system. 10. The Steering system in the Segway PT is very sophisticated and uses a Lean Steer Technology. 11. This means that if you lean forward the Segway accelerates in the forward direction if you lean backwards it decelerates. 12. Also to turn on your right you need lean to the right and similarly for the left direction.

Preliminary Design Equation

Mo=J=MgL + mgl - Te- C1 .Eqn 1 Fx = (M+m) x = Te/R C2x .. Eqn 2 From the above equations we get: = (MgL+mgl)/J Te/J C1/J ..Eqn 3 x = Te/R(M+m) C2x/(M+m) Eqn 4 The above given equations can be written in a matrix form.

Preliminary Design Equation

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Eqn 5..

This is the equation that we are going to input in MATLAB to create the simulation. Also this is the equation that will govern the microcontroller so as to balance the system.