Structural design considerations
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Structural Design Considerations. Small or 0° turn radius Given size restriction and ground clearance Friction Type of drive-train Weight and center of gravity location. Wheels . First considered to determine range of chassis size to work with

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Structural Design Considerations

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Structural design considerations

Structural Design Considerations

  • Small or 0° turn radius

  • Given size restriction and ground clearance

  • Friction

  • Type of drive-train

  • Weight and center of gravity location


Wheels

Wheels

  • First considered to determine range of chassis size to work with

  • Quantity and type which help with finalizing drive-train

  • Explored track style, multi-directional and standard hobbyist rubber wheels

  • Size to provide enough ground clearance


Chassis and drive train

Chassis and Drive-train

  • Shapes and sizes

    • Square, triangular and rectangular

  • Material

    • Lightweight and easy to machine

  • Deck quantity

  • Quantity, speed and torque of motors

  • Steering mechanism


Wheels current design

Wheels-Current Design

  • Multi-directional

    • Rubber coated to provide enough friction

    • (4) 4” diameter wheels

    • Assembled 90° apart

    • Provides 0° turn radius


Chassis and drive train current design

Chassis and Drive-train/Current Design

  • Octagonal shape keeping wheels 90° apart

  • Aluminum chassis

  • Two decks

  • Four modified servos to drive

  • No steering required


Rough assembly sketch

Rough Assembly Sketch


Possible structural issues

Possible Structural Issues

  • Amount of stress on shaft of servos

    • Possibly perform FEA to determine max stress

  • Clearance with face of wheels

    • Approach carpet/ramps at different angle

    • Change wheels (last resort)

  • Vibration

    • Change thickness or material of chassis for more flexibility

    • Shock absorption on wheel (last resort)


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