BandBeesten Robotic Drumset

To get Bandbeesten back on its wheels, this project seeks to create an entirly new animal that is lightweight, durable, and moves under its own power.

Team Members

 * Shawn
 * Amanda
 * Christian
 * Maddie
 * Robyn
 * Joe

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Background
The BandBeesten project was started in 2011 by Dr. Edwin Odom, Professor of Mechanical Engineering, and Dr. Daniel Bukvich, Professor of Percussion and Music Theory. The goal of their collaboration was to create a full drum set that could easily be played and moved easily by a single person during marching band performances.

The Fall of 2011 marked the beginning research of ideas for what they called the Beest. This acedemic year was solely an experimentation year; For more in depth design details refer to the Team Drum Roll webpage.

The design team of 2012-2013 made progress with the BandBeesten's design. Dan Mathewson, a UI graduate student, designed a robotic, power driven front wheel to enable the machine received commands through the operator's body movements. This design made it onto the field and more information on this can be found in Dan Mathewson's thesis.

In 2013, the design team started designing a new BandBeesten with a sturdier frame. This design relied only on man-power and did not have any assisting motors. The design used was very strong and could hold a full set of drums with ease. more information about this design can be found at

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Design Specifications

 * Move forward backward, and do 360 degree rotations.
 * Have a forward speed of 2 mph
 * Have a reverse speed of 2/3 mph
 * Complete a 360 degree rotation in under 2 seconds
 * Lightweight/ sturdy design
 * Able to support ~150 lb
 * Be able to stay charged during long performances

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Frame
The first generation of the Bandbeesten was a great proof of concept using lightweight aluminum and incorporated few connecting beam, but the minimalistic approach did have flaws. The frame was weak and would flex whenever the user wanted to perform a maneuver.

In 2013, a solution was found by using a tetrahedron frame. This frame puts every beam within it in either tension or compression, minimizing bending and flexing. Although this frame was very strong, wood was used as a building material making it bulky.

The latest version of the Bandbeesten combines features of previous generations by using a minimalist aluminum design to minimize weight and a tetrahedron shape to maximize strength.

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Wheels
The BandBeesten must be able to be moved in any direction on a moment’s notice to keep up with the marching band’s routine. Its wheels must allow maneuvers such as crab walking and rotation as well as straight motion. Designs considered are Omni-ball wheels, conventional casters, and Omni-wheels.

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Project Learning
During the process of building the BandBeesten, we have gathered an extensive amount of information from various resources. Most of what we have learned has to do with the frame, motor controls, and wheel casting.

Frame
The frame will be subject to bending, torsional, and tensile stressses. To design a frame that will withstand these forces while keeping a slim profile, a design was concieved that incorporates a lower frame that is made of 3" tubing that is reinforced by 1" tubing. The tetrahedral portion of the frame has a wide center block with 1" tubes to reduce bending and torsional forces.

Motor Controls
To control the power given to each motor, an arduino is used. The arduino sends a signal to separate motor controllers which in turn sends power to each motor. breakers, fuses, and an emergancy stop button have been installed for safety.

Wheel Casting
In the latest version of the BandBeesten, Omni wheels are being used. 12" wheels are needed to allow for smooth operation, so wheels were manufactured in the UI machine shop due to lack of comercial availability. These wheels will be able to move in any direction without pivoting, but they require a casting process for the sub-wheels if they are to made out of urethane material. The casting process has three parts, setting up the casting molds, mixing the material, and pouring the material.