Structural Design Considerations Small or 0° turn radius Given size restriction and ground clearance Friction Type of drive-train Weight and center of gravity location

Wheels First considered to determine range of chassis size to work with Quantity and type which help with finalizing drive-train Explored track style, multi-directional and standard hobbyist rubber wheels Size to provide enough ground clearance

Chassis and Drive-train Shapes and sizes – Square, triangular and rectangular Material – Lightweight and easy to machine Deck quantity Quantity, speed and torque of motors Steering mechanism

Wheels-Current Design Multi-directional – Rubber coated to provide enough friction – (4) 4” diameter wheels – Assembled 90° apart – Provides 0° turn radius

Chassis and Drive-train/Current Design Octagonal shape keeping wheels 90° apart Aluminum chassis Two decks Four modified servos to drive No steering required

Rough Assembly Sketch

Possible Structural Issues Amount of stress on shaft of servos – Possibly perform FEA to determine max stress Clearance with face of wheels – Approach carpet/ramps at different angle – Change wheels (last resort) Vibration – Change thickness or material of chassis for more flexibility – Shock absorption on wheel (last resort)