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The Art of LEGO Design

The Art of LEGO Design. Alex Styler and Jason Geist Original version by Michael Rosenblatt January 31, 2007. Sources. The Art of LEGO Design, by Fred G. Martin LEGO kit instructions Internet ME! And other TA’s, of course. Goals:. Build better robots Minimize mechanical breakdowns

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The Art of LEGO Design

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  1. The Art of LEGO Design Alex Styler and Jason Geist Original version by Michael Rosenblatt January 31, 2007

  2. Sources • The Art of LEGO Design, by Fred G. Martin • LEGO kit instructions • Internet • ME! And other TA’s, of course.

  3. Goals: • Build better robots • Minimize mechanical breakdowns • Build robots that are easy to control • Encourage good design strategy • Strive for elegant, clever solutions

  4. Know your Materials • Quick facts: • Plastic bricks since 1949 (wooden blocks prior) • On average, 2100 different parts each year • Manufacturing tolerance: 1/1000 of an inch • Number of ways of combining six 8-stud bricks: 102,981,500 • Widely used by scientists and engineers as a rapid prototyping tool

  5. Geometry • Three plates = 1 brick in height • 1-stud brick dimensions: exactly5/16” x 5/16” x 3/8” (excluding stud height 1/16”), • This is the base geometry for all LEGO components

  6. Structure • Common pitfall when trying to increase mechanical robustness:

  7. Structure • The right way:

  8. Structure • The right way:

  9. Connector pegs • Black pegs are tight-fitting for locking bricks together. • Grey pegs turn smoothly in bricks for making a pivot

  10. Structure • LEGO bricks are finicky: • They HATE duct tape. • They HATE hot glue. • They HATE super glue. • They HATE epoxy. • You should never need adhesives to build reliable LEGO structures

  11. Help!!!

  12. Drivetrain 40T • LEGO Gears 8T 16T Bevel 1T Worm 24T 24T Crown

  13. Worm Gears 3 • Pull one tooth per revolution 1 2 • Result is a 24:1 gearbox • Not back driveable! 4

  14. Motors • 9V Gear Motor • ~ 150 mA • 300 RPM (no load)

  15. Motors • 9V Micro Motor • 20-30 RPM • Internal two stage orbital gearbox (wow!)

  16. Mounting Motors Note Bulge under motor

  17. Mounting Motors • Add a gear:

  18. Mounting Motors • Use special 2x1 stud plate with “wing”

  19. Build for good control • Slow vs. fast? • Gear backlash • Stability • Skidding

  20. Wires • Take pride in your wires!!! • Wire management: use zip ties!!

  21. Design Strategy • Incremental • Test components parts as you build them • Drivetrain • Sensors, sensor mounting • Structure • Don’t be afraid to redesign • KISS

  22. Design Strategy • Drivetrain driven • Chassis/structure driven • Modular?

  23. Testing • Don’t wait until you have a final robot to test • Interaction of systems • Work division (work concurrently) • Develop test methods • Repeatability

  24. Philosophy • Have fun • Be creative, unique • Strive for cool solutions, that work! • Aesthetics: it’s fun to make beautiful robots!

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