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Construction Method
The majority of the components for this project are to be 3D printed. This method was chosen due to it's many advantaged, primarily the weight of the material accessible, the time needed to produce a part, the availability of the chosen printer to the student, and the ease of prototyping this method allowed.
The overall process for each part up to this point consisted of 3D printing the part from the chosen filament, completely submerging the part in water for a minimum of 30 minutes, then the part was annealing at 90*C for 12 hours. At the 6 hour mark the part was flipped to the opposite side to assure an even annealing throughout the component. After this process, chosen parts were then taken to a fume hood and brass threaded inserts' were hot pressed into place via a soldering iron. The completion of this step marked the completion of the parts manufacturing process.
Not all parts 3D printed require the threaded inserts so the end of the annealing marks the end of those parts manufacturing process.
For the two parts that were machined in the machine shop in Hogue Technology building. The back armor was cut from a sheet of UMHW using a handsaw and a Dremel, it was initially cut into 2 seperate pieces that would later be joined at an angle. The rough edges were then filed down using a sander, and one side of each rectangle was sanded down so that the two pieces would join and form an angle around the bottom of the chassis back wall. The two pieces were joined using E6000 adhesive and the back armor was attached to the back plate of the chassis using the same adhesive.
The claw tip was the other part machined in the machine shop. Firstly the square aluminum 6061 stock was put into the CNC. The outline of the shape as well as the hole were cut out. After the part was done in the CNC it was then moved over to the mill where the back side of the stock was milled away to release the part from the rest of the stock.
Figure C1 - Drawing tree of all manufactured and purchased parts
Figure C2 - Part AKC-20-004 (the front wall of the chassis) directly after annealing.
Figure C3 - Part AKC-20-004 undergoing the process of having the brass threaded inserts' hot pressed into the designed holes for the side wall and bottom plate to attach to.
Figure C4 - Part AKC-20-004 undergoing the same process depicted in Figure C2 but for the ramp attachment points on the front side of the part.
Figure C5 - A comprehensive photo of all the required components to perform the hot press procedure.
Figure C6 - Each part was weighed directly after the annealing process, and the weights were recorded to ensure that the robot stayed within weight regulations as the manufacturing process progressed.
Figure C7 - The aluminum stock loaded into the CNC and ready for the machining process to begin.
video_2024-01-18_12-43-19.mp4Figure C8 - A time lapse of the print process for the front/top wall of the chassis
video_2024-02-04_13-15-38.mp4Figure C9 - A time lapse of the print job for the side armor
IMG_3304.MOVFigure C10 - A video of the CNC process for the claw tip, a 1/8" drill bit was used to machine the part.
IMG_3300.MOVFigure C11 - A video of the CNC machining further through the process to show a different aspect of the claw tp being machined.
IMG_3305.MOVFigure C12 - A video of the milling process to release the claw tip from the aluminum stock after the CNC process.
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