Caterpillar Robot

von Kepler

Druckbare Dateien (7)

Beschreibung

This caterpillar track is the first step towards designing and building a printable mobile robot. My finished robot will have four of these modules, but many other designs are possible. A single caterpillar can function on its own as a simple robot that can move forwards and backwards; two modules can be joined together to form a tank-like machine, etc.

This thing is designed to work with a Futaba 3003 servo (modified for continuous rotation) and uses O-rings to make up the transmission and the caterpillar itself.

Transmission O-ring: 3mm thickness, 60mm diameter
Caterpillar O-rings: 3mm thickness, 124mm diameter

This O-ring system was chosen because it was easier to prototype, but it has evident drawbacks. In future revisions I will change it to a "solid" rubber track.

Note that the pictures of the printed robot at the bottom of the page are missing the reinforcement parts. I will upload new pictures as soon as I modify it!

Video of the robot in action!!
http://www.youtube.com/watch?v=efXHjjU-yYg (Simple test)
http://www.youtube.com/watch?v=mVgXtljqaAQ (Highest inclination: 36º)

Update! (17/4/2011)
Uploaded an HD artistic rendition of the UniTrack created by my brother Hasier Goitia. Expect more images and videos after the Easter Break!

Tags

#3D #caterpillar #education #flexible #machine #makerbot #mobile #mobile robot #MobileRobot #O-ring #openscad #parametric #Plastic Valley #PrintBot #robot #robotics #rubber band #servo #tank #UC3M #wheel