Design Matrix
From the matrix above, it was determined that Alternate Solution Three was the best design to choose.
Alternate Solution One- The motor configuration and component mounting of AS1 were found to be
lacking in that they provided little protection from moisture and did not utilize motors effectively. While its
wheel design provides good traction, the water bottle structure may provide inadequate bouyancy.
Alternate Solution Two- Both the motor configuration and wheel design were deemed to be poor in this
design, because of flimsy construction and ineffective use of motors. While internal component mounting
is stronger in this design, the hull still provides little protection from moisture.
Alternate Solution Three- While not ideal, the motor configuration of this design was found to be more
effective than previous solutions. The wheel and hull designs work well together and both provide good
protection from the elements to internal components and structures. Because this hull is foam, the
internal components are well protected and mounted securely. This design also provides
greater bouyancy.
Alternate Solution Four- The motor configuration of this design, similar to AS2, is less effective than
that of Solution Three. Wheel design is flimsy and inadequate, and would probably not be able to support
the heavier foam construction of this solution. Therefore a large foam hull is also not as effective with
this design. Mounting of internal components in this solution is also less efficient, as it would provide
less power to wheels.
Hull Structure
Of the four alternate solutions, the hull of Solution Three was evaluated to be the most bouyant and structurally sound. The hull, comprised of a shaped piece of foam with internal cavities for the motors and wiring, achieves greater bouyancy from displacement and structural integrity than the other designs.
Wheel Design
The wheels of the TOV will be constructed using spools filled with clay. The clay will be shaped into a ridged design, similar to offroading tires, and covered with black electrical tape for added water resistance and traction. This design was chosen because of its resilience to sandy and wet conditions, and its good traction on soft surfaces.
Arm Design
The TOV's arm, used for retrieving objects, is designed using triangular trusses for strength and lifting capability. The arm will utilize a fork as a hooking implement to retrieve objects, and a pully with an attached magnet to salvage metal from the bottom of the pool. The arm will use motors for raising and lowering the pully as well as angular motion of the arm.
Control System
The TOV will be controlled using several switches, each controlling a different operation. The switches will conrol front wheel power, rear wheel power, propellar, and arm. Steering will be achieved through the use of a perpendicularly oriented motor in the front which will alter the angle of the front axel.
Steering
The TOV will be controlled using a motor mounted with a vertical axis of rotation above the front axle. This motor will be rotated either clockwise or counterclockwise, allowing the robot to be steered to the right or left. The motion will be transferred to a propeller mounted on a pivot through two crossed rods attached to the axle and running the length of the TOV.
