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Mechanical diagrams and preview

 Robinho's mechanical systems are surprisingly complex, forcing the team to manufacture multiple parts from scratch. Thus we decided on designing all the parts in CAD for 3D printing in PLA, which is lightweight, cheap and resistant enough for all the applications.

The mechanical parts are separated first into:

  • The robot chassis
  • The robot's claw
  • The arena



The robot's chassis

The base of the chassis was bought from the internet, we chose a reliable and readily-available model which is commonly called "2WD Circular robot chassis".
It has a standard diameter of about 14cm (excluding the wheels), fitting our specifications for the project.


 

 


Above the prebuilt base we assemble two other plates made of acrylic plastic, separated by 6cm inbetween.


 

The distance was measured as the minimum distance to allow fitting of the entire payload of the first baseplate, which was composed of:

  • The claw mechanism
  • The batteries
  • The wireless charging module
  • The color sensor 

The second and third baseplates will house the microprocessors and stray cables.


 

The last component will be the casing, which will be likewise printed in PLA. It has a friendly facade that houses important functions: Its smile allows the claw to actuate and move forward beyond the boundary of the robot's body, and also allows the color sensor to see outside.

The camera will be housed in the third baseplate and it will be able to peer outside the casing through a small hole.


 

The claw

 The claw was a moving mechanism that had the restriction to be concealed inside the chassis of the robot until it was ready to be deployed. This challenge was solved by designing a single action geared claw mechanism.

 

 

The actuation will be done by a single step motor connected to the mechanism either by cogs or a pinion.


 

 

The arena 

 The arena is divided on zones related to the tasks and functions predicted in the requirements of the project.

  • The colored grid
  • The maze
  • The buttons on the wall
  • The charging station
  • The movable blocks

 

We also designed special AR tags to mark the bounds of the arena, allowing our software to calculate the borders by itself.


 

This is a special "position one" tag, that allows the robot to self center after any task.


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