In December we had to move on the next level. We had to finish a visionary documentation about how the prototype will climb up and how it will be made. We had reading assignments every week to get familiar with the idea of adhesive micro-fibrillar pieces.
Our team has started to design and share responsibilities due to the final phase in this project. Each one of us has a different ides of the prototype’s outer shell look and how it will work.
A visionary team is a great team, and climbing on 90 degrees has never been more needed than right now.
This is how our usual Tuesday meeting board looks like.
We have shared our work that will be done this week. Each of us has separate and certain jobs. Each of us had a duty to do research for soft robotics. (Soft Robotics is the specific subfield of robotics dealing with constructing robots from highly compliant materials, similar to those found in living organisms). Our second task in terms of soft robotics was the presentation before the group where we would explain what we understood from what we read. Also other tasks for the whole group have been the filling of the working timesheet that we have to do every day after finishing the jobs. (Timesheet-shows our work that we do every day about this project). Creating a budget in which will do two tests: the budget that will be the cheapest and the budget that will be more expensive. Another idea of us was to buy a toy car. the reason we thought of buying a toy car was that we had experiments on the design of wheels and not with parts of electronics or base on that electronics since we were more focused on designing and experimentation of wheels
All the tasks have been:
Driloni:- Designing a motor holder that would not be very complicated but would do the job. Also Gzimi and Driloni will create an electronic we will use for our first prototype.
Buna:- Designing a wheg that will be a bit different from what we have done so far.
Albulena:- Design of gears for reasons that with a motor to connect two whegs.
Era:- Planning and creating a trackway that will have some obstacles from the simplest ones to the most difficult ones. Documenting everything we do (photos, videos, and reports).
Ylli:- Design of whegs to be used for our first prototype.
At first we had to finish some basic parts of the robot including whegs (WHEel+lEGS). We thought the wheel had to have 6 arches which would facilitate walking of prototype. The arches are very close to each other and this is one reason why the prototype will have the best to walk. Whegs on its surface (in each arc) is extruded for 1cm from the surface. The reason why we use the extrude is because through these extrudes on the top of the wheg we can test the prototype even by walking in the water. The wheg also has a small bow in the middle that will be needed for the engine, where the part with which the engine will be fitted with the wheel will be inserted into that small hole in the middle of the wheel. The dimension are: length 12cm, extrude1,3cm, one arc 6cm and small bow 0,5cm. In the end seeing that the wheel is a bit thicker than we thought and that the bows are many and are curved more than we have to decide that these wheels are not used for our prototype but remain only as an example our test.
After designing the whegs we started to research for soft robotics. At the fisrt we started to research for what we need soft robotics and what they are. (Soft Robotics is the specific subfield of robotics dealing with constructing robots from highly compliant materials, similar to those found in living organisms. Soft robotics draws heavily from the way in which living organisms move and adapt to their surroundings. In contrast to robots built from rigid materials, soft robots allow for increased flexibility and adaptability for accomplishing tasks, as well as improved safety when working around humans. These characteristics allow for its potential use in the fields of medicine and manufacturing). Since soft robotics are soft and more flexible robots in contrast to robots built from rigid materials, these allow for greater adjustment to performance and improve work safety around people. Since it is also based on nature and biology, this research for soft robotics will help us in our steps during this project. After the end of the search for soft robotics we finally had the task of making a brief introduction about what we understood from what we read.
These are the whegs we will use for our first prototype. Have six arches that enable the robot to walk faster and stabilize. Although the prototype has only two wheels it will still be stabilizing because the shape of the wheel and bows will enable this. We thought this shape of the wheels because when the prototype will start to move it will be easier to move because the space between the arcs is not so big and so the prototype will not be stumbled. The dimensions are: Thickness 6mm, length 96.3839mm, wide 94.4682mm. The whegs have an open circle in the middle that will be needed to insert the engine shaft in it. In the circle will enter another small circle from the wood that will be smaller and narrow so that the axis of the engine will not move.
Seeing that our prototype had good moving skills in the flat we thought we would challenge it by making a new road that would have different obstacles ranging from the simplest to the toughest. So we started construction work on a trackway (a road where the prototype will be challenged). The whole trackway is constructed of wood. There are five obstacles that start from the lowest to the highest. There are three parts in which obstacles will be placed and all are of the same length.
This is our first prototype. Is a simple prototype but function. The base is of wood and has the shape of the letter T. Is a piece of wood of just the right size to fit our simple electronics. The motors are located below the base at the front of the base which has a longer length. As I said our prototype has a simple electronics which is made up of: Arduino uno, breadboard, motors( ), . There is also a small back wheel at the bottom of the base that will help the prototype not to stumble and move better. This is a passive wheel that is not controlled by any engine but moves itself.