Robot Design Tracción trasera Tracción delantera Tracción media

4 ruedas 4 ruedas 4 ruedas

Lecture 2: Design of a Base
Tomonari Furukawa
School of Mechanical and Manufacturing Engineering
University of New South Wales
Vehículo articulado Tracción trasera 3 Tracción delantera 3 ruedas
tracción trasera ruedas con rueda boba con dirección delantera
1 NUMER OF WHEELS AND ROBOT TYPES

Question 1
How many wheels do we need at least to have a wheeled robot driven 
on a plane?
Motor en 2 ruedas traseras Vehículo
con rueda boba delantera omnidireccional Vehículo con orugas
Actions to be taken by the wheeled robot:
- Go straight at a different speed Figure 2. 1 Type
- Turn to a different direction s of whe eled ro
bots
Major components of the wheeled robot:
- Base
(a): F R. Fr
- Batteries
ont steering wheels for steering, Rear driving wheels.
- Motor(s)
(b): FF. Front wheels for both driving and steering. Rear support whe
- Wheels
els.
o Driving  wheels – connected to motors
(c): 4WD/4WS
o Support  wheels
(d): Articulated steering. Steering mechanism of a wheel loader used 
- Steering mechanism
in construction and mining
industry.
Question 2 (e) – (f): Typical three-wheeled vehicles (tricycles)
How many wheels should be equipped with a motor? (g) – (i): Two driving wheels are independently controlled to turn.

There are a variety of types of wheeled robot. There are summarized i Classification in terms of turning a vehicle:
n Figure 2.1. One-wheeled vehicles, two-
wheeled vehicles (bicycles) and omni-directional vehicles are not  - The use of a servo motor to steer the robot (Ackerman  Steering)
included. : (a) – (f)
- The use of two independent driving wheels (Differential  Steer
 ing, also called tank steering): (g) – (i)

3 DIFFERENTIAL STEERING

The turning of the differential steering robot can be controlled by

providing a different angular velocity to each wheel (changing the speed
of each motor). The term differential steering comes from the fact that
the turning radius of the robot is a function of the ratios (or differences)
of the wheel or tank-tread speeds on both sides of the robot. The
important note is that one support wheel must be at least attached to this
robot to enable three-point contact. Possible differential steering robots
are illustrated in Figure 2.10. Figure 2.11 Omni-directional wheel

Ejemplo:
Segway A robot using holonomic motion control can move in any direction 
even without changing the
orientation of the robot, and you can precisely control the rotational spe
Ejemplo: ed of the robot.
vehículo 4WD

5 CENTER OF GRAVITY

Figure 2.8 shows where the center-of-gravity can be located when the 
robot is stationary.

Ejemplo:
Mars Rover

Figure 2.10 Possible differential steering robots.

4 HOLONOMIC MOTION CONTROL

A robot based on this steering method uses omni-directional roller 
wheels as shown in Figure 2.11.
 Centros de gravedad
. It is an ideal material for prototyping.
6.2.2 Plastic
Hundreds of different types of plastics. Commonly sold as flat s
heets with some thickness
4 ruedas (1.5mm, 3mm, 4.5mm, 6mm). Typical ones for robots are:
- Acrylic – Hard, strong, rigid and clear in colour. Higher
3 ruedas tensile strength than polycarbonate.

- Can be tapped, so that you can attach threaded fasteners directl
y to it.
- Polycarbonate - Hard, strong, rigid and clear in colour. Has
a very high-impact resistance. Easier to machine than acrylics.
- Expanded foam polyvinyl chloride (PVC) – The surface of
this material is hard, but the inner core is like dense foam. It
Omnidireccional 6 ruedas is not soft like a sponge, but rather hard. Expanded
foam PVC is lighter and easier to machine than Acrylic and
Polycarbonate. It would be the best plastic material for robots.
6.2.3 Aluminium
- Aluminium would be the best material for robots. It is very
strong and has the lowest density of all of the common metals
available. It is one of the easiest metals to machine. It is easy to
Figure 2.8 Safety region of center-of-gravity location when robot is stationary. obtain and cheap compared to magnesium and titanium.
6.2.4 Aluminium alloys
6 WEIGHT AND BASE MATERIALS - Aluminium alloys include silicon, iron, copper, magnesium,
chromium, and zinc as elements added to aluminium. They
6.1 Weight have different material properties such as strength, ductility,
Weight is often a premium in a robot. For most robots, the heaviest c hardness and corrosion resistance.
omponents are the batteries, the motor(s), and the base: 6.2.5 Brass
- Six-cell nickel-cadmium (NiCd) battery pack: 310 g. - Brass is a strong metal that is easy to machine, but it is very
- Each small gear motor: 150 g – 300 g. heavy. Its density is three times greater than aluminium and
almost ten times greater than the plastics described. The
- Base: ?? advantage is the types of shapes that can be obtained at hobby
It is normally important to use the strongest and lightest materials. and hardware stores.

6.2  Base  Materials

6.2.1 Wood
Easy to cut, drill, glue, bolt and screw. It is also the cheapest material