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Published byBridget Josephine Carter Modified over 9 years ago
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Michael Lyons Michael Woods Linzhong Zhuo
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The main objective of our project was to create a stair climbing vacuum robot. Small, efficient design Remedy past failures Integrate software for autonomy
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The following diagrams give an overall view of our basic design and implementation for Gradus. State Context
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Inefficient design Too heavy 15-20lbs. Aesthetically displeasing Large balance issues
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Master’s Student working for iRobot Most successful design introduced Heavy and Bulky, not efficient for home use
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Original Perfect, smooth arch 6 wheels Wood or aluminum original case material Expected 8-10 lbs.
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Changes Hexagonal design implement 4 wheels instead. Wheels on top of robot removed from design. Acrylic used as case material. Finished with 6-8lbs.
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Climb the stairs Balance Size Software Integration Automation Battery Life
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Cutting the acrylic Combining the servos with the DC motors Mounting the servos and wheels to the proper height Powering each component
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Determining the torque required by each component. E.g. motors, wheels, servos Balancing the robot for optimal stair climbing Re-programming the servo to move the full 180 degrees with the RC transmitter & receiver Controlling the robot with the RC transmitter and receiver
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4 HiTEC Servos 4 DC Motors Aluminum Channels Arduino Mega 2560 Microcontroller 2 Sabertooth 2x5 Motor Drivers Spektrum Dx5e Transmitter & Receiver
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Case completed Remote control operation Servo (0-90 Degrees) & DC motor Successfully climbs stairs with reservations Add weight to front for friction Software Integration Time constraint issues Left for future teams
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http://www.youtube.com/watch?v=vRDV9R_f0 fE&feature=youtube_gdata_player
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Able to overcome many of the challenges Still an unfinished product Future groups may implement software and stabilize design Overall very interesting and rewarding project
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