Structure Analysis of Cast Iron for Dry Clutch of Amphibious Vehicle

This paper investigates the structure analysis of cast iron for dry clutch disc of amphibious vehicle. The main focus that needs to be considered is the torque produced from the engine. Optimum parameters must be justified in order to confirm the clutch disc is high durability, high reliability, and minimum in weight. Finite element analysis is use to predict the maximum stress can be apply to the disc. The fabrication process is conduct using a conventional milling machine

Design, Analysis and Fabrication of Space Frame Chassis for Amphibious Hybrid Vehicle

This paper explain the designed and development of space frame chassis for amphibious hybrid vehicle (AHV). Catia V5 R20 software is used for the designing and analysing before constructing the space frame chassis structure. Once the results of the analysis satisfied, the fabrication process is implemented. Hand lay-up method applied in the fabrication process of the chassis with the combination of bark wood, fibre glass E-class and epoxy resin. The general process involves in the fabrication process are cutting, drilling and fittings The chassis then assemble with brake system, drive shaft system, steering linkage system, suspension system and engine system. Good designs for manufacturing (DFM) practices have been implemented to assemble the chassis with all other AHV components

PARAMETER STUDY OF STABLE WALKING GAITS FOR NAO HUMANOID ROBOT

It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1