"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 a straightforward mechanism. It relies on three main motors to achieve motion. These motors drive the four robot wheels, providing the robot with three degrees of freedom (linear motion in the X-Y plane and rotational motion around the Z-axis).
Linear motion in the X-axis, in a positive or negative direction, is achieved by means of two motors (each motor drives two wheels on one of the two robot sides). When the motors rotate in different directions, the robot moves linearly, and when they rotate in the same direction, the robot rotates around the Z-axis in a positive or negative direction. The motors used to implement these motions are from Andy Mark company and have a power of 14 Watts with a rotational speed of 1780 RPM. The motors are fitted with gearboxes with a reduction ratio of 3.7:1, and they run using 12 VDC. For motion in the Y-axis direction, a motor drives all four wheels of the robot at the same time, in a positive or negative direction. The motor used is also from Andy Mark and has a power of 14 Watts with a rotational speed of 340 RPM. This motor is fitted with a gearbox with a reduction ratio of 19.2:1 and works with 12VDC. The rotational motion of the motors is transferred to the robot wheels using chains and sprockets from Tsubaki company. For linear motion in the X-direction, the motion of the two motors on both sides of the robot is transferred by the chains and sprockets to the Colson driving wheels, which drive the robot wheels in the required direction. For linear motion in the Y-direction, the motor's rotational motion is transferred by chains and sprockets to the Omni driving wheels from REV Robotics, which are fitted with rollers on their outer edge. Each wheel of the robot is fitted with two combined driving wheels, which keep the wheels tangential continuously. The robot has a diameter of 68cm and a height of 23.5cm from the ground, and it weighs 10kg. |
|
|
|
|