After designing the wheg we used in April, we thought that sticking the robot would be lighter but experimenting with new problems appeared that we did not think they would appear. we have experimented with the method of “Micromachining” where we design surface and whegs.
Some of the problems we encountered during the experiments are:
- The length of the thorns was very short.
- The shape of thorns prevent on the downhill of the robot.
- Moving from one arm to another during the movement.
- The unstable robot movement (with turmoil).
- Sliding of the robot when moving around the surface.
- Do not synchronize between the contact surfaces between whegs and the moving surface.
- A point of contact between the whegs and the surface during the movement of the robot.
Because of all these problems we were forced to make minor changes in the design of the wheat and in the end we also started experimenting with other designs that allowed the robot to move more smoothly.
The problem with the old designs was the transition from arm to arm and contact surface.
With the new design it is thought that there will be two contact points at all times when passing from side to side. This would solve the problem of transistor support and would not allow the robot to slide from the trackway.
Whegs will have three moving parts that will have a certain movement angle. These moving parts are the most red and white parts. These have the same thorns as the trackway and their free movement will be made primarily by gravity or elastic force. The circle at the bottom of the model is 5mm in size because both sides will enter the llagerat. The total length of the cylinder is 18mm and the contact surface has 5 thorns (extrude) 5mm.
The rest of the wheg that will hold the llagerat and the moving parts (the second photo). In the 3 holes 605 llagerat will be placed (outer diameter 14mm and inner 5mm diameter). In the middle there are four holes with a diameter 3.2mm. The lumbar horn serves to connect the whel with the engine shaft to be made with a M3 grinding wheel. The other three holes serve to connect the wheat to each other with three M3 screw.
Close to three holes can be seen from two restrictive parts. They have a length of 3mm each and limit movement of moving parts. At first in the first designs these two pins were spaced apart 120 °. But this distance allowed the interference of moving parts with each other, one over the other. Therefore with mathematical calculations the current distance between the two pins is 150 °. This scale does not allow the interference of the moving parts between themselves.
This is our electronic scale.
First we started to think how our trackway would look. We decided what kind of wood we would work on, how long will it be trackway and how it will work. After some different thoughts we decided that the trackway has these two parts with the same length and width which will be joined by brackets, there will be a part that will be iron and two large pieces of wood that will be needed for support. The wood we will use for the trackway construction is of pine type. We thought it was long 120x40cm.
How we’ve built a trackway?
First we buy the wood with which the trackway would be created, pressed the wood in size that we needed and we started to stick the wood with each other through wood stickers. The wood parts are cut with length 120x13cm (a piece), 120x39cm (three parts). After cutting and gluing wooden parts through brackets we started to join the two big pieces with each other. After that, we started constructing the trackway support parts. Cut two parts of wood with the same length and width 100x9cm. On the supporting parts we have opened seven holes. In these holes will enter iron that will change the height scale. The part in which the robot will climb will move and will be held on iron. The iron is long 61cm.
How it will work: As I have mentioned above track will have two same pieces of wood, iron and two supporting parts. Parts that are the same will have different functions. The part that will be placed below will be required as a bearing for the two supporting parts and will be connected to the upper part. The trackway high part will be needed for passing and testing the robot to see how high it will climb. The two supporting parts will have some holes that will be rank from bottom to top. These holes will serve to hold the iron. The iron will be needed to hold the high part of the trackway and will change the height or the degree to which the path will be located. Both the iron and the holes in the two supporting points will be needed to change the degree to which the road will be located.
This is the basis we thought would be more functional for the prototype. The base is thought to be in this way for several reasons. Is a strong structure that it is difficult to break and helps to systematize the electronic elements and other elements in their own countries, being aesthetically and functionally at the level. Even though this base does not look similar to the lizard axis, we still use it as evidence for our prototype. The open holes on the base are used to caught the electronic elements by means of strands and wires. The dimensions are: 16X8cm and is extruded 1,5cm.
After designing the base and finishing trackway we started with the tail design. The tail was designed with pyramids of the same size as the wheels, so that the tail easily traverses the trackway. We decided to use three pyramids at the bottom of the tail in order for the tail to have enough trackway contact because if the tail had only one pyramid contact point would be too small and the prototype would fall. Another element that has the tail is also a small circle located at the beginning of the tail. This little circle will need to be caught in the small rod we’ve designed. The dimensions are: length 13,8cm , the width of the tail varies- at the beginning the tail is wide 1,3cm continuing down below 0,7cm and at the end of tail wide is 1,7cm.
Another part that will be associated with the tail is the part that will be held for the tail, so the tail holder. To this part will be attached a small rod that will be inserted into the small circle that is at the beginning of the tail and will keep it. Also the tail holder will also have a space that will be inserted rods. The tail holder has been thought to have the shape of a rectangle and has extruded two parts in which the rod and the tail will be held. The dimensions are: the rod we designed, length 6cm and diameter 0,6cm. The two parts that are made extrude: the small part 1x1cm and the largest part 2,2x1cm. All the tail holder 5x4cm.