Embedded Files
Major Components
Chassis and Frame
Track System
Track Tensioner
Drive Axle System
Controls and Remote Operation
Chassis and FrameDual plate chassis design with enclosed drivetrain and substructure
Barred frame superstructure contacts Segway at two points for greater strength.
Utilizes preexisting Segway structure for simplicity and weight savings.
Al - 6061 chosen for machinability and light weight
Track SystemSnowmobile tracks (fiber-reinforced) chosen because of availability and standardization
Snowmobile idler wheels, drive wheels, and drive shaft utilized.
Tracks cut in half, trimmed to length, and spliced
Track TensionerPrevents derailment of track and simplifies maintenance
Tension applied with constant force gas compression springs
Rotational movement instead of typical linear slide
Tensioner auto-locks in the retracted position
Locking slot bar fixes track geometry in extension.
Drive Axle SystemMachined from hexagonal steel snowmobile drive axle
Flanged bearing allows ± 2° misalignment tolerance
Keyway milled into shaft to affix bored chain sprocket
Snowmobile drive wheel press fitted
Custom aluminum idler wheel rotates freely
Controls and Remote Operation
Communication application provided by Segway
CAN protocol embedded into USB port
Windows XP laptop strapped to the frame
Wireless Xbox controller controls robot remotely
Summary of Hardware Performance:
Mobility Tests: PASSED
Gravel & Small Rocks
Dirt & Brush
Large Rocks (< 1 ft. diameter)
Stair and Ledge Climb (< 1 ft. height)
Load Capacity: >180 lb
No Load Climb Angle: >45°
Material Cost: ~ $2210 (less for > 1 unit)
Overall modification weight: ~ 80 lb.
Total weight: ~ 140 lb.
Cruising Speed: ~ 3-4 mph
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