OVERHAUL MECH. DESIGN

INTRODUCTION

Submitted by-

Amrut Rajkarne

Basic Design (OVERVIIEW) :

1. Differential drive for locomotion

2. Wheels covered by conveyor belt to sustain all kinds of terrains

3. Gripping mechanism to lift victims and place joints (ROBOTIC ARM)

4. Structure of chasis for proper balancing of robot

5. Control Box

LOCOMTOTION:

1. Locomotion will be guided by a basic differential drive...

2. Now since our robot has to traverse through different types of terrains viz Rocky,

pebbly , lunar etc simple wheels would get stuck up between two rocks.. So we

make use of conveyor belts for ease in locomotion. By using conveyor belts

locomotion will be smooth and no scope for getting stuck.

3. While using conveyor belt, the terminal two wheels are kept of bigger size while

others between are kept of smaller size. This helps in smooth locomotion in case a

rock comes in the path

4. Two motors would drive the robot(Each will be high toque motor). Each set of

wheels on a particular side would be attached to a gear box which will be driven by a

motor. In this way each motor would be attached to a gear box which finally controls

the wheels.

ROBOTIC ARM :

1. The main purpose of this arm will be to lift the victims out of crevasses and place

the joint at the junction of two terrains

2. Firstly this robotic arm should have as many degrees of freedom as possible. Bot

to increase the degrees of freedom number of motors to be placed on the arm

should be increased. This may lead to imbalance

3. Mainly our robotic arm should lift the victims from the crevasses..So a motor for

up-down motion...One for gripping the victim and one motor will decide it left-right

motion which will be directly attached to our chasis.

Up-down motion:

Gripping mechanism:

The gripper will use a RACK and PINION mechanism to hold the victims

This will be driven by a linear actuator which will be connected to a motor

Chasis :

We ll lift the victims from the crevasses and place them in a safety pit designed on

the chasis only. The dimensions of that pit would be such that the victims don't

topple over till our robot reaches the end point

Control Box:

We will have six motors(two high torque motors for differential drive + two servo

motors + one small motor driving the pulley + one for the linear actuator in the

gripper) in our robot.

So the best possible arrangement of the switches on the control box(Considering the

ease of controlling the robot) are as follows