Transcript Computer Guided Trebuchet

Computer Guided Trebuchet
Seth Katz
Matt Leese
Overview
 Trebuchet is a medieval siege weapon
 Throws a projectile by utilizing a
counterweighted arm
 Computer control provides automated
accurate targeting
System Overview
 Trebuchet
 Embedded Controller
 Computer
Trebuchet
Embedded
Controller
Computer
Trebuchet Overview
Pivot
Count
er
Weigh
t
Arm
Sling
Projectile
Trebuchet Targeting
 Targeting
 Range
 Azimuth
 Range
R2
Mcw
h
Mprojectile
 Governed by:
 Move counterweight for range
 Azimuth
 Rotate trebuchet base
Trebuchet Specifications
 Fire a Nerf Ball (~2 oz.) a distance of
15 ft.
 Therefore:
 Counterweight of 12.5 lbs.
 Small Arm Length of 2.5 in.
 Long Arm Length of 12.5 in.
Actuators
 Rotate trebuchet base
 DC motor connected to gearing
 Move counterweight
 DC motor connected to a lead screw
 Remove firing pin
 Servomotor connected to the firing pin
Trebuchet Design
Trebuchet Design (2)
Embedded Controller
 MC68HC12
 Provides control over trebuchet
 Input data from sensors
 Output data to actuators
 Takes commands from Computer
 Sent desired azimuth and counter-weight
location
 Sent fire command
Embedded Controller Block
Diagram
Pivot
Actuator
Pivot
Sensor
Counterweight
Actuator
Counterweight
Sensor
Release
Actuator
Embedded
Controller
Computer
Computer
 Windows GUI Program to select
desired target
 Calculates appropriate azimuth and
counter-weight position
 Commands Embedded Controller to
move trebuchet
 Commands Embedded Controller to
fire
GUI Screenshot
Schedule
Questions?