Mule Specifications

Project Description
Slope Incline: The transporter is optimally designed for a 15o incline.
Size Constraints: The cargo transporter must initially fit within a 12x20x15 cm (width/length/height) box
Cargo and Drop Weight Constraints: A minimum cargo of six steel balls is necessary.
The drop weight can be no more than twice the cargo weight.
Accuracy: The transporter must keep the cargo within a 5cm bound strip along the center of the incline.

First Generation Prototype
Final Cargo Weight: 570g (20 steel balls, each weighing 28.5g)
Final Drop Weight: 456g (16 steel balls)
Spring Used: The prototype uses a 10.5N constant force spring.
Other Materials Used:
  • Chassis: hollow rectangular plastic beams
  • Axles: Steel tube stock, with cable ties to constrain axial motion
  • Main wheel: machined aluminum with rubber tread
  • Spring mounting sprocket: baked putty

Performance

Last modified: Fri Dec 4 20:17:52 EST 1998