IGVC Mechanical 2013

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Misti was a completely new mechanical build over previous years.

She was designed to have a similar footprint to Jeanni and Roxi(i) while making the electronics more accessible, being more waterproof, and being much more offroad capable.

Organization

  • Blue � Drivetrain and Suspension
  • Red � Sensors
  • Green � Interface
  • Pink - Electronics

Frame

Drivetrain

Drive
Tank/skid steer
Motor
AmpFlow A28-400 Motor
Custom gearboxes
  • CNC milled boxes
  • 2 stage reduction
  • Total reduction 30:1

Suspension

Sensors

Misti was designed to accommodate all the sensors with the following design principles:

  • Protect from environment
  • Maintain accessibility
  • Modular mounts: Isolate change propagation

Interface

  • Panel with clearly identified and accessible buttons, switches, and guages
  • Safety:
    • Multiple remotes for wireless E-stop
    • Wired E-stop at operator�s forehead level

Electronics

Misti took advantage of the wider front and rear trays to make the electronics more accessible:

  • Power distribution tray mounted to removable static dissipative panel for servicing.
  • Reduce wiring mess:
    • Motor controllers mounted near motors
    • Micro-controllers mounted near laptop