Assignment 5

Source Code on GitHub

System Architecture | Software Design | Electrical Design | Mechanical Design

Mechanical Design

The mechanical design for this demo was created in AutoDesk Inventor. The chassis is divided into a base and top to hold different components. The base and top chassis are connected by pegs and the wheels are attached directly to the axels on the XL-320 servos.

The batteries for the servos and the XL-320 servos themselves are all attached to the bottom of the base chassis in the front half of the robot, near the center of mass. A caster wheel is attached to the back of the bottom of the base chassis for stability. The 5V battery for the Raspberry Pi rests on the top of the base chassis, with the camera attached to the front. Finally, the Raspberry Pi and OpenCM are attached to the top of the top chassis while all the wires connecting everything are secured to the underside of the top chassis.

Below is a model of the design fully assembled without the electrical components. The primary changes from the original maze navigating robot are moving the wheels back to be closer to the center of mass and moving the servo batteries to the underside of the base chassis to provide the attachment points for the servos.