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Robot Assembly Description for 2000
The robot described below is an example of a design needed for the workshop. The salient features of the robot are: (1) It is a three wheeled vehicle. (2) It has two independent drive motors to the rear wheels, (3) servo controlled steering and (4) a shaft encoder on the front wheel. (5) It supports both Handy Board and RCX drive (but only Handy Board steering.) The design does not have to be exactly as shown, as long as has the same features and can have sensors added to the front and rear. The "Servo and Shaft Encoder Setup" and the first six images devoted to the front wheel assembly are strongly suggested. Hot glue is suggested on two LEGO pieces in the assembly. Two structural requirements should be tested which can not be easily determined from the pictures (1) The green beams holding the front wheel structure must be ruggedly attached to the rest of the frame. Two connecting pins on each side as shown in the 'Right-front' and 'Left-front' figures provide that strength. (2) The motors must be ruggedly attached to the frame so that starting torque does not twist them loose. Careful attention to the layered construction shown in the 'Motor assembly' and the 'Rear frame assembly' figures should connect both motors to the frame both on-top and underneath, but a few test starts at full power would be prudent. The rear frame assembly shown is designed so that the motor-to-wheel gearing can be quickly adjusted to change the gear ratio from 1:1 to 1:3 or 3:1, but this will not be significant for the programming projects during the workshop.
A "zip" file of the images shown below is available. The file size is 1681101 bytes, and it should require less than 10 minutes to download at 28,800 bits per second.
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