Final Design-Crawl

In terms of the final design, we added a motor mount plate and a roller plate to the main body. The motor plate is used to fix the motor onto the center gear in the vertical position as shown in Figure 5 below. As for the roller plate, we incorporated it into our design in order to allow the robot climber to be able to traverse a surface more easily.

CAD Model

Figure 5. Final Design of Robot Climber

Figure 6. Bottom View of Final Design

Rollers with built in bearings, allowing for stability and low friction

Rollers mounted with printed brackets.

Figure 7. Motor mount to Base plate attachment

Motor mounts to top acrylic plate which includes thru holes for M3 socket head cap screws.

Figure 8. Gear assembly diagram

Faced motor shaft mates to center gear which drives two larger gears.

Figure 9. Linkage connection diagram

The larger gears connect to a faced shafts which connects to the driving links of each Whitworth quick return mechanism.

 The track consists of six 3D printed rungs fastened onto a plywood board. There are also acrylic track bumpers that were cut to keep the robot on track as well. The rungs are spaced to match the linear offset between each motion of the arms as they alternated with one another. The elevation of the board was set at 5^o for testing purposes.

Figure 10. Race Track Assembly with Robot.