0ILUS

The 0ILUS

The 0TILUS consists of three major subassemblies: The frame assembly, the cosmetic assembly, and THE CLAW

Cosmetic Assembly

The cosmetic assembly consists of a base plate, a top plate, a series of pillars, and a dome. The top and bottom plates were printed in three parts and bolted together, and all other elements are held together using friction. The structure at the top of the dome rotates to indicate pairing status between the 0lius and Navcon.

Frame Assembly

The frame of the 0ILUS consists of three frame members assembled in a triangular formation and held together by three PETG bars. THE CLAW, flotation devices, and cosmetic assembly are then attached this frame. There are three flotation devices which have a combined displacement of around five kilograms.

The craft is propelled by two brushless AC motors located in the two rear flotation devices.

THE CLAW

THE CLAW is located along the rear face of the craft and consists of two symmetric four bar linkages connected by spur gear teeth and driven in parallel by a single waterproof high torque servo motor. Additionally, a rubber band can be wrapped around the fingers of the claw to transfer some servo torque from the opening motion to the closing motion.

The dimensions of the four bar linkage are such that the fingers of THE CLAW remain parallel to each other at all points in its motion. There are two resons for this. First, it ensures that the normal force between the fingers and the Tendr has no longitudinal component. Second, it allows the claw to perform its motion with less slack in the bumber than would otherwise be required.

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