Design overhaul
4/9/18
With the basic structure of the robot now thought to be complete, today we decided it was time to add sensors to the robot. We envisaged that touch sensors, light sensors, and sound sensors would be best for this. Initially we attempted mounting them on the top of the motors, however this didn't really work due to the fact they were angled down and able to swivel freely. We needed something that could mount a number of sensors to the front of the robot, without falling forwards or swivelling. Nathan began a redesign of the front space between the motors. The original support structure had numerous design flaws, such as sagging, and had to go. Using angled parts and numerous connector pieces, Nathan was successful in his endeavour to create a sturdy rig capable of supporting numerous sensors in a fixed position. The touch sensor was in the central position at this point, with capacity for three more sensors to be added. We added a second touch sensor, and a sound sensor to see how it would fit. We encountered an issue regarding cable spacing between the back of the rig and the front of the NXT brick. The spacing was too small, meaning cables joining sensor to port did not fit. This was fixed by adjusting the anchorage of the rig, moving it out, which allowed for more space for cabling. We added a light sensor to the side of the rig, with the design of the latter enabling us to aim it downward in a fixed position. We then however noticed that the rig began to sag down and forwards, due to the weight of the structure, sensors, and also bringing the rig forward. Two new anchorage points were added to the sides of the motor. These secured to the side of the robot, successfully holding the rig upright. We then noticed another issue, this time with the front wheels, which were double thick on the outer side of the motors. We identified that this was causing the robot to sag inwards, due to a lack of support between the motors. The wheel configuration was changed to have one wheel on either side of the motor, thus adding equal support to either side of the motors. By the end of this, the lesson was over too. The design of the robot had been overhauled, with the front completely changed and the wheel configuration changed also.
With the basic structure of the robot now thought to be complete, today we decided it was time to add sensors to the robot. We envisaged that touch sensors, light sensors, and sound sensors would be best for this. Initially we attempted mounting them on the top of the motors, however this didn't really work due to the fact they were angled down and able to swivel freely. We needed something that could mount a number of sensors to the front of the robot, without falling forwards or swivelling. Nathan began a redesign of the front space between the motors. The original support structure had numerous design flaws, such as sagging, and had to go. Using angled parts and numerous connector pieces, Nathan was successful in his endeavour to create a sturdy rig capable of supporting numerous sensors in a fixed position. The touch sensor was in the central position at this point, with capacity for three more sensors to be added. We added a second touch sensor, and a sound sensor to see how it would fit. We encountered an issue regarding cable spacing between the back of the rig and the front of the NXT brick. The spacing was too small, meaning cables joining sensor to port did not fit. This was fixed by adjusting the anchorage of the rig, moving it out, which allowed for more space for cabling. We added a light sensor to the side of the rig, with the design of the latter enabling us to aim it downward in a fixed position. We then however noticed that the rig began to sag down and forwards, due to the weight of the structure, sensors, and also bringing the rig forward. Two new anchorage points were added to the sides of the motor. These secured to the side of the robot, successfully holding the rig upright. We then noticed another issue, this time with the front wheels, which were double thick on the outer side of the motors. We identified that this was causing the robot to sag inwards, due to a lack of support between the motors. The wheel configuration was changed to have one wheel on either side of the motor, thus adding equal support to either side of the motors. By the end of this, the lesson was over too. The design of the robot had been overhauled, with the front completely changed and the wheel configuration changed also.
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