"TorboT" Mobile Robot:
"TorboT" Mobile Robot:CAD software used: Autodesk Inventor 2020.
Download Scope: 3D CAD model (Autodesk Inventor files), STEP. Price: 20$
Mechanically, the robot has a simple design with an uncomplex mechanism, it counts on three main motors to achieve the motion, these motors drive the four robot wheels, so that the robot gets three degrees of freedom DOF (linear motion in X-Y plane, and rotational motion around Z axis).
The motion in X axis, positively or negatively, is achieved by means of two motors (each motor drive two wheels on one of the two robot sides) when the motors rotate in different directions, and when the motors rotates in the same directions, the resulted motion will be rotational for the motor base around the Z axis, positively or negatively. The motors used to implement these motions are from Andy Mark company, and have power of 14 Watts with rotational speed of 1780RPM, the motors are provided with gearboxes with reduction ratio of 3.7:1, the motors run using 12 VDC. For the motion in Y axis direction, it is achieved by a motor which drives the four wheels of the robot in the same time positively or negatively, and the used motor is also from Andy Mark with power of 14 Watts and rotational speed of 340RPM, this motor is provided with a gearbox of reduction ration equals to 19.2:1 and works with 12VDC. The rotational motion of the motors are transferred to the robot wheels by using chains and sprockets from Tsubaki company; for the linear motion in X direction, the motion of the two motors existing on the both sides of the robot are transferred by the chains and the sprockets to the driving wheels from Colson company which drive the robot wheels to the required direction, and for the linear motion in Y direction, the motor rotational motion transferred by the chain and sprockets to the driving wheels of the Omni type from REV Robotics which are provided with rollers on their outer edge, each wheel of the robot is provided by two combined driving wheels so that they keep tangent continuously. The robot has a diameter of 68cm with height of 23.5cm from the ground, and its weight is 10Kg. |
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