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Mechanical Construction of Turtletron
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The parts needed for the mechanical construction of the turtle robot are listed in Table 71
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TABLE 71
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List of Parts Needed for Turtletron s Mechanical Construction
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Parts 18 3/4-inch diameter Frisbee 3-inch diameter model airplane wheels 1-1/2 inch casters #4-40 #4-40 3/4-inch machine screws 1-inch machine screws
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Quantity 2 2 2 4 4 8 32 2 34 1 2 9 feet 2 inches 3
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#4-40 nuts 6/32 6/32 1/2-inch machine screws 1-inch machine screws
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6/32 locking nuts Power switch DPDT Tamiya high power gear box HE Connector wire Heat-shrink tubing 4-post female header connector
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The construction of the robot turtle will start with the assembly of two Tamiya high power gearboxes They are available from HVW Tech and can be purchased at their Web site, located at wwwhvwtechcom The gearboxes are sold as kits and need to be assembled before they can be used Figure 74 shows the Tamiya high power gearbox kit
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7 / Turtletron: Build Your Own Robotic Turtle
FIGURE 74
Tamiya high power gearbox kit
Assembling the Gearboxes and Attaching the Wheels
Take all of the parts out of the box and unfold the instruction sheet The gearbox has two possible configuration options of a 648:1 or 417:1 The gearbox will be assembled for use with the 648:1 ratio using one green and two red gears Follow the instructions included with the kits to assemble both gearboxes Locate two, 3-inch diameter model airplane wheels and two gearbox horns labeled as A3 that are included with the gearbox kits Place a wheel on the table and line up the center hole in one of the gearbox horns with the center of the wheel Use a pencil to mark
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FIGURE 75
Gearbox horn A3 with mounting holes indicated
the position of the two holes where they line up on the wheel, as shown in Figure 75 Follow this procedure for the second wheel,
FIGURE 76
Wheel attached to gearbox
7 / Turtletron: Build Your Own Robotic Turtle
and then drill the holes with a 5/32-inch drill bit Attach an A3 gearbox horn to each of the gearboxes with the washers and securing nuts that came with the kits Use two #4-40 3/4-inch machine screws and nuts to attach each wheel to each gearbox horn as, shown in Figure 76 Constructing the base The robot s body will be constructed using two common Frisbees that can be obtained at most department stores Starting with the base, use the dimensions shown in Figure 77 to cut two recesses in the plastic disk, using a hack saw The gearboxes will be mounted so that the wheels are positioned in the recessed areas Use a file to smooth any rough edges where the plastic was cut
FIGURE 77
Cutting dimension for wheel recesses in the robot base
Amphibionics
Drill the motor mounting holes and power switch hole, as indicated in Figure 78 Center the casters at the front and back of the underside of the Frisbee, and mark the mounting holes with a pencil, as shown in Figure 78 No dimensions for drilling were shown in the figure because the exact position of the caster mounting holes may vary, depending on the casters When the holes have been marked, drill with the bit sizes indicated
FIGURE 78
Drilling guide for robot base
7 / Turtletron: Build Your Own Robotic Turtle
Mount the wheeled gearboxes onto the robot base using the machine screws and nuts that came with the gearbox kits Mount each caster onto the base using four 6/32-inch 1/2-inch machine screws and locking nuts Mount the power switch in the 1/4-inch hole toward the back of the base Use Figure 79 to position the gearboxes, casters, and switch when mounting them to the base
FIGURE 79
Gearboxes, wheels, casters, and switch mounted to the robot base
Amphibionics
Cut four pieces of 1/2-inch aluminum stock to a size of 2-1/2 inches in length These pieces will be used to support the top cover and antenna Use Figure 710 as a cutting and drilling guide Mount the aluminum pieces on the Frisbee base Position each piece 1/2 of an inch beside the wheel recesses and mark the mounting holes Drill each mounting hole with a 5/32-inch drill bit, and attach each piece with a 6/32-inch 1/2-inch machine screw and locking nut Figure 711 shows two of the supports attached around one of the wheel recesses
FIGURE 710
Cutting and drilling guide for cover supports
FIGURE 711
Two cover supports mounted to robot base around wheel recesses
7 / Turtletron: Build Your Own Robotic Turtle
Differential drive system Turtletron employs what is called the differential drive system It is one of the least complicated locomotion systems from a construction and programming standpoint The differential drive scheme consists of two wheels on a common axis, with each wheel driven independently This arrangement allows the robot to drive straight, to turn in place, and to move in an arc In order to ensure balance, some additional support beside the two drive wheels must be provided to prevent the robot from tipping over This is usually done by arranging one or two caster wheels in a diamond or triangle pattern Turtletron uses the diamond pattern, as illustrated in Figure 79 One of the problems with using this configuration is that when the caster wheels are attached rigidly to the robot body, undulations in terrain can leave the robot supported only by the casters The drive wheels may lose contact with the surface and become unable to move the robot To improve on this design, a suspension system could be added that would allow the casters to move up and down relative to the drive wheels
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