Embedded Files
Animations
Animations
ea1_assembly v7.aviTranslational assembly robot adds a beam to the end of the system. This method of assembly has reduced degrees of freedom facilitating consistent assembly process.
CartAssembly2 v9.aviRotational assembly robot adds a beam to the end of the system. This method has requires one rotational movement and one translational movement.
explosion_narrated.mp4Rail CAD
Rail CAD
Straight Rail Unit: Compliant male end clips into female end, allowing assembly and disassembly in a single motion. Rails can be connected in 90 degree intervals, providing ease of assembly and facilitating access to all points in 3D space. Sliders on drivetrain fit into the T-slots along each side of the rail, securing the drivetrain as it moves.
Split Beam Unit (Version 1): Provides structure for track to split in two, allowing robots to pass each other.
Turn Rail Unit (Version 2): Transitioned to 45-degree turn so that drivetrain wouldn't get stuck on curve.
Turn Rail Unit (Version 1): Interfaces using same connector and T-slot systems as straight rail. This part is what allows the rail system to expand into the 3rd dimension. In testing, the prototype drivetrain got derailed through the turn, prompting more thorough analysis of the turn radius.
Prototype Testing
Prototype Testing
Rail / Assembly joint
Rail / Assembly joint
Prototype hardware.
Early test demonstrating that turn radius was too sharp for the drivetrain (Turn Rail Unit V1)
rail_connection_demo.movCompliant snap allows beams to be oriented in 4 different ways and still allow connection. This reduces complexity of the assembly operation and limits part count.
[TODO: Reshoot] Early test of snap connection between beams.
Drivetrain
Drivetrain
TODO: Crop videos to appropriate length, mute audio.
IMG_2305.movInitial test of rail system with model drivetrain. Drivetrain transitions smoothly between the rails in both directions.
IMG_2451.MOVDrivetrain rounding two 45-degree turns using T-slider for location.
IMG_2449.MOVIn the weightless environment of space, T-sliders must provide the force to maintain drivetrain engagement with rail. A test drive under the rail validates that the drivetrain maintains contact with rail in spite of gravity pulling it away.
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