MIT 2.007 Design and manufacturing I / fall 2012
Robot Design Process
Initial sketches for the component architecture
I designed my robot to be completely manufactured in 2D processes like laser cutting and water jet cutting. The design makes heavy use of captive T-nuts, a fastening method that allows for fast and easy assembly with 2D parts.
CAD of the wheel base. Thin aluminum plates add strength while being lightweight. ABS is used to reduce weight while providing enough thickness to capture nuts and join the aluminum parts.
Center plates added to provide a platform for an articulation system. Lightening holes on the bottom plate reduce the overall weight of the robot.
Because the class does not allow off-the-shelf parts, I custom designed the wheels, which feature a 3D-printed core and washers acting as secondary wheels, which is essential for an omnidirectional drive system.
Full CAD of the robot, including custom 3D-printed wheels
Each of the four motors is individually controlled by a microprocessor flashed with custom firmware that maps directional input from a Playstation controller to velocity vectors for each motor. The left joystick drives the robot in the XY plane and the right joystick rotates it.
Full system built as designed. A black arrow marks the front of the robot, which is referenced in the controls firmware.
The designs were submitted to the course staff to be used as a reference for omnidirectional drives for future students.