This project involves the creation of a compact and efficient robot specifically designed to navigate an obstacle course and perform targeted tasks, such as popping balloons. The robot combines innovative movement mechanics with a simple and modular design, making it adaptable for various challenges.
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Balloon Popping Mechanism:
- A functional attachment (e.g., a sharp or extendable tool) will allow the robot to pop balloons on the course, meeting task requirements.
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Innovative Movement:
- The design eliminates the use of traditional wheels, replacing them with a crankshaft-driven system that provides unique motion dynamics.
- Rotational stability is achieved through carefully designed support points.
📷 Draft Sketch of the Robot
The initial draft highlights the core structure and mechanism of the robot, including key components:
- Leg (Crankshaft): Responsible for the robot's movement by converting rotational motor energy into linear motion.
- Large Joint Mounts: Designed for connecting and stabilizing the leg assembly, though improvements are needed to prevent looseness.
- Crankshaft System: Central to the motion, translating motor power into smooth rotational and linear movement.
- Main Platform (Frame): A triangular structure that supports all components and ensures balance.
- Rotational Wheel (Support): Helps maintain stability during complex navigation.
- Motor Assembly: Powers the crankshaft and supports the overall movement of the robot.
The draft also identifies areas for improvement, such as enhancing joint stability and optimizing the motor assembly for better torque.
The creation of the robot will involve the following components (as indicated in the draft materials):
- Motors (x2): Provide the primary movement force.
- Motor Holders (3D-Printed): Secure the motors in place (recommended PLA or PETG material).
- Crankshaft and Support Structures: For the leg-driven movement mechanism.
- Platform (Plywood or PLA): Forms the triangular frame for stability and component attachment.
- 18650 Batteries (x2): Power the motors and electronics.
- Wheels and Tires: For rotational stability (if needed for specific iterations).
- PCB and Wiring: Soldered to connect the motors, battery pins, and controllers.
- Battery Holder Pins: Secure the 18650 batteries in place.
- LED Strips (Optional): For visual feedback or aesthetics during operation.
These components provide a balance between durability, modularity, and ease of assembly.
The first iteration of the Obstacle-Course Robot revealed several issues in its design and functionality that required significant modifications to improve performance:
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Friction Issues in the Belt Drive System:
- The friction between the belt drive system and the wheels was higher than the friction between the shaft and the wheels.
- This imbalance caused the wheels to slip, leading to inefficient movement and difficulty in navigating the obstacle course.
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Insufficient Stability with Four Legs:
- The initial design, featuring only four legs, proved unstable when encountering complex obstacles.
- This limited the robot's ability to maintain balance and stability, particularly during sharp turns or uneven terrain.
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To address the identified challenges, the following adjustments were made:
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Improved Belt Drive System:
- Thicker Belts: The belt was redesigned to be thicker, reducing the likelihood of slipping and enhancing durability.
- Revised Wheel Design: The shape of the wheels was modified to increase the contact area and improve grip with the belt.
- Bearing Installation: Bearings were added to the wheels, ensuring smoother motion and reducing unwanted friction.
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Enhanced Stability with Six Legs:
- The number of legs was increased from four to six, providing better balance and allowing the robot to navigate obstacles more effectively.
- The additional legs improved the robot's ability to distribute its weight evenly and maintain stability during challenging maneuvers.
This section provides a detailed breakdown of the robot's finalized design, including its key components and assembly process. Each part has been carefully selected and refined to overcome the challenges faced during the initial prototype. Below, you’ll find descriptions of the components, along with images, videos of the 3D printing process, and footage of the robot's successful operation.
The frame forms the foundation of the robot, supporting all components and ensuring stability. It is designed to be lightweight yet sturdy, accommodating the crankshaft mechanism and other components seamlessly.
- Image of the Body:
📷 Body
- Video of the Frame Being cut:
The wheels have been redesigned for optimal grip and efficiency. They feature a modified shape to work effectively with the toothed rubber belt, ensuring reliable torque transfer and minimizing slippage.
- Image of the Wheels:
📷 Wheels
- Video of the Wheels Printing Process:
The legs are crafted from sturdy nails that act as feet, providing traction and stability on uneven terrain. These legs are attached via a crankshaft mechanism to generate the robot's distinctive movement.
- Image of the Nails as Legs:
📷 Legs
A robust rubber belt with teeth ensures a strong connection between the three wheels, efficiently transferring rotational motion from the motor to all wheels.
- Image of the Belt:
📷 Belt
- Video of Belt Printing:
These mounts secure the legs to the crankshaft mechanism, enabling smooth and coordinated movement. Their design ensures durability and ease of adjustment.
- Image of Leg Mounts:
📷 Leg Mounts
- Video of Mounts Printing:
Bearings have been incorporated into the wheels to reduce friction and ensure smooth rotational motion, improving efficiency and longevity.
- Image of Bearings:
📷 Bearings
Two powerful motors drive the crankshaft mechanism and the wheels, providing sufficient torque for the robot to navigate complex courses.
- Image of Motors:
📷 Motors
The electronic components, including the battery pack, PCB, and wiring, power the motors and ensure seamless control. The electronics have been neatly integrated into the body for ease of access and maintenance.
- Image of Electronics:
📷 Electronics
After assembling all components, the robot was put to the test on an obstacle course. The successful launch showcased its stability, efficiency, and balloon-popping capabilities.
- Video of the Robot in Action: