BandBeesten Robotic Drumset

Return to contents The BandBeesten is a powered drum set created for the UI marching band. The instrument can be manuevered and played by a single operator during performances.

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 by a single person during marching band performances. The 2014-2015 acedemic year is the 4th consecutive year of the project.

2011
Work in the fall of 2011 consisted of researching ideas for a powered platform to assist in parade and marching band performances. The team worked solely on research for a proof of concept and did not build a physical prototype. For more in depth design details refer to the Team Drum Roll webpage.

2012
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 ball wheel to enable the machine to receive commands through the operator's body movements. More information on this design can be found in Dan Mathewson's thesis which is included in the Project Learning section of this page. The 2012 design team made significant progress in designing a human interface and powered movement for the BandBeesten.

2013
In the 2013-2014 academic year, a new team started designing a BandBeesten design 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 __________.

Team Members

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

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Design Specifications

 * Movement and percussion performed by a single operator
 * Have a forward speed of 2 mph
 * Have a reverse speed of 2/3 mph
 * Complete a 360 degree rotation in under 2 seconds
 * sturdy design
 * Able to support ~150 lb
 * Be able to stay charged during long performances

Physical Specifications

 * lightweight enough to be lifted by three people
 * Collapsible design for transportation in a vehicle
 * Rigid frame to support a large payload without flexing

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Overview
As the end of 2014 draws near, the third generation BandBeesten is nearly complete. With an aluminum core, the Beest can support more than twice the anticipated payload while weighing less than 250 pounds. To ensure exceptional acceleration with these high payloads, torque is provided by three motors. These motors deliver their power to the ground through an innovative triad of Omni-wheels. To control motion, a joystick or foot pedals can be used by the operator; the instrument can also be operated remotely through an RC transmitter. In depth details of this design are discussed in the following sections regarding the frame, control systems, and wheel design.

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.