The ASME Student Design Competition
As such, the purpose of this short tutorial is to demonstrate a unique method of wall climbing, and show dual functionality of a 1 DOF robot arm (not counting the gripper). Ok technically it is 3 DOF, because of the moving/rotating robot frame . . .
The rules basically went as this:
Without further boring descriptions, watch the video!
The bucket was built from bended aluminum sheet metal, and the frame was both milled and CNCed out from aluminum raw material.
Specially shaped foam was used inside the bucket to keep the objects inside from rolling out while wall climbing.
2) Rubberband was used as belt tensioner.
3) The four wheels were custom CNC machined.
4) Conveyor belt material was glued onto the wheels and grippers for its high friction properties.
5) RC reciever antenna, wrapped so as to not tangle
Control, and the Driver
The agility of a remote control robot is very much a function of driver skill. If you ever have a remote control robot contest, driver skill can significantly affect robot performance. Practice practice practice. Know exactly how your robot will perform. Practice in realistic settings, too. We went as far as to reconstruct the test course ourselves, timing everything the robot did for speed optimization, and pushing the limits to see what the robot can do. In the video I was operating 5 servos simultaneously with two hands on the remote, a skill that took many many hours of practice to do. But it all paid off . . .
An image of a prototype version climbing a wall in our recreated test course:
You probably did not gather this from the video, but the arm was used as a balancing weight shift as it climbed the wall - not just a lifting mechanism. The claws also had to be opened up during the climb, too, so as to not break.
This early plastic-made prototype version attempted to climb the wall before we learned about the weight shift feature of the arm. Embarassingly, the basket was lowered accidently and the bot got stuck on its way over. The gripper on this version was made from nylon, and broke during the climb.
The SolidWorks CAD file of this robot is available for download (7.1mb). If you use the CAD (or any part of it) for your robot, please give credit and link back to this page.
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