One 3.6V NiMH battery disassembled |
Since we have suspension for both sides it is
time to make the main body for carrying the battery and the
circuit. We decided to go for two rechargeable 3.6V/220mAh NiMH
batteries. Purchased in RadioShack batteries have been
disassembled to remove plastic container. |
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Chassis base plate
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The size of the battery was one of the factors to calculate size of
chassis base plate. The base plate made from brass has two wings
bent down to install the suspension. |
Tubing installed in the base plate |
One of the problems, which came to our attention was a difficulty
with perpendicular to the pane installation of brass tubing. To make sure that the tubing is
as perpendicular as
possible whole one piece was installed across the plate. |
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Chassis assembled using tubing and
screws
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The top of the chassis is an universal PCB as itself. The top
is supported by another four pieces of tubing. Very important here
is how to cut a thread inside the tubing. |
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Looks serious: TeamUR the first!
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The suspension is connected to the chassis by steel rods placed in
the tubing and secured with drop of universal glue |
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Spring is installed to keep the
chassis horizontally
|
To keep the chassis horizontally two small springs have been used.
Spring wrapped around the steel rod is mounted to the chassis on one
side and to the suspension on the other side. |
Incorrectly installed springs did not
stabilize the robot.
|
Unfortunately the springs did not work well. The chassis was
falling to one or another side. |
Reshaped springs with small loops work
much better.
|
We decided to make spring loop smaller. Another reason why
chassis was too loose were too big wholes drilled for the ends of the
springs. |
.Here we have our hero!
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Now looks that the robot is able to move and turn pretty well.
The main problem is that the wheels are plastic and too small.
There is not enough friction to travel over the objects. The picture is
of course pure fiction because the robot with such wheels is unable to
climb on top of a breadboard. |
