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Skid (Tank) Steering.

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Presentation on theme: "Skid (Tank) Steering."— Presentation transcript:

1 Skid (Tank) Steering

2 Skid (Tank) Steering ROBOT B A

3 How to be sure it will go straight?
Building a Robot Skid (Tank) Steering ROBOT How to be sure it will go straight? B A

4 How to be sure it will go straight?
Building a Robot Skid (Tank) Steering ROBOT How to be sure it will go straight? B A

5 How to be sure it will rotate correctly?
Building a Robot Skid (Tank) Steering ROBOT A B How to be sure it will rotate correctly?

6 How to be sure it will rotate correctly?
Building a Robot Skid (Tank) Steering ROBOT A B How to be sure it will rotate correctly?

7 How to be sure it will rotate correctly?
Building a Robot Skid (Tank) Steering ROBOT A B How to be sure it will rotate correctly?

8 What is better, four wheels or two wheels?
4 Wheels vs. 2 Wheels ROBOT What is better, four wheels or two wheels?

9 Building a Robot 4 Wheels vs. 2 Wheels ROBOT ROBOT
Think always about the center of gravity for your wheeled vehicle

10 Building a Robot 4 Wheels vs. 2 Wheels ROBOT ROBOT

11 Center of Gravity Bad designs? good designs?

12 Building a Robot Center of Gravity
Often the answer depends on your requirements, the specification of the robot

13 Building a Robot Center of Gravity

14 Building a Robot Center of Gravity

15 Wheelbase

16 Building a Robot Wheelbase

17 Building a Robot Wheelbase
You must consider early in design how you want your robot to rotate and move in narrow spaces.

18 Building a Robot Wheelbase

19 Chain Alignment Important aspect of design is the alignment of chains, gears or pulleys. This relates also to cams and fourbars. motor

20 Supporting Shafts motor

21 Building a Robot Supporting Shafts motor
Shafts must be well-supported!

22 Building a Robot Supporting Shafts motor This is a really bad design.
Many early designs from this class were like this, although I told students not to do this.

23 Building a Robot Supporting Shafts motor

24 Building a Robot Supporting Shafts motor

25 Building a Robot Supporting Shafts motor

26 Building a Robot Supporting Shafts motor

27 Building a Robot Supporting Shafts motor Best designs, If you can.

28 Pivots There are many pivots in robot arms, head, legs, etc.
Do not forget to design them well Teflon Washer Nylock Nylock Steel Washer

29 Robot Base Example It is good to have some experience with advanced robot kits like Tetrix of Vex before you design your own robot parts.

30 Building a Robot

31 Robot design goals Simple: easy to replicate and less to go wrong!
Ask: Is there an easier solution? Robust: don’t want robots falling apart on the table! Compact Small enough to turn in tight spaces Keep the center of gravity between the wheels Wire routing – tuck wires in so they don’t get pulled loose Predictable and reliable Behavior should be consistent and repeatable Aesthetics: it’s nice to have a good looking robot!

32 Some Robust Techniques
Shielding light sensors Solid construction Using good batteries Going straight (enough) Reliable Navigation

33 Dynamic Environment Even with good design, construction and programming, there can still be problems At first, robots and programs are designed assuming a well known (static) environment without any interference Unfortunately, things do change: sunlight, spotlights, camera flashes, dust on the tables and wheels, the battery power level, etc There are ways to mitigate some of these

34

35 Materials used Zan Hecht Nathan Gray Gaurav S. Sukhatme


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