New Platform Design - Robomechanics Lab
New Platform Design - Robomechanics Lab
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At the RoboMechanics Lab, we focus on taking robots into challenging real-world environments, such as rocky hills and cluttered houses.
Helped develop a wheeled platform capable of traversing rugged terrain with a payload
Designed the wheeled platform to be interfaceable with a legged variant such that the payload could be easily transferred from one to the other with minimal modifications
Designed the wheeled platform to have comparable performance to a treaded variant in terms of obstacle clearance, but with increased speed and maneuverability
Prototype 1
Prototype 1
Prototype 1 focused on a novel 4-bar linkage design. The motivation behind this design was a fully passive design, which would take significant complexity out of the robot dynamics and code, as well as reducing power consumption.
After testing, it was determined that with some slight modifications this would be a viable final design.
Swerve Drive Design
Swerve Drive Design
After designing the linkage, the next task was to design a mechanism that would use the AK80-6 motors as a swerve drive. These motors were selected to be compatible with the legged variant, which used the same motors.
The structure was designed to be CNC machined. The next step is to finalize a wheel design.
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