Mechanical Design
Dispensing System
Ramp
Base Structure
We chose a 3 wheel system so that the robot could turn at a small radius. The chassis consists of 7 aluminum L profile pieces. The drive train includes 3 wheels - 2 actuated and 1 ball caster. We chose a 3 wheel system so that the robot could turn at a small radius. The wheels are then attached to the motors using 3D-printed adapters. Steering is done using the two rear wheels instead of a steering servo. This decision was made in order to maximize the robot's ability to turn without causing the front wheel to slip or rake along the ground. |
Although the system is not fully and reliably functional, the resulting system is shown working in the following video: