Mechanical Design ID-5

MECHANICAL DESIGN : OVERHAUL

Driving Mechanism

Gripper

Participant’s Name:Anchit Navelkar Name of College:IIT Kharagpur

MECHANICAL DESIGN REPORT

Chassis Design:    

A basic differential driving mechanism Metal/Wooden body Caterpillar Tracks used for traversing on sandy and pebbles terrain Gripper with arm attached to circular moving platform on robot

Mechanisms Used:    

Differential Drive with caterpillar tracks Gripping Mechanism Moving Arm Mechanism for Gripper Rotating Mechanism for Gripper

Traversal & Gripper: Components Used       

4 Large wheels(to be connected with the motors) 2 DC motors, 60-100 RPM 2 caterpillar tracks 4 small wheels to be attached at the ends of the caterpillar tracks to give the track an angle at the ends 4 Servo motors Gripper 2 metal/wooden shafts

1-Caterpillar Tracks Caterpillar tracks give extra grip and enable locomotion on sandy/pebbles terrains.

2-Small Wheels This helps to make the track inclined to the vertical at the ends so that it grips on a sudden elevation.

3-Large wheels connected to motors 4-Compartment for keeping the victims 5-Circular platform to which the base of the arm is connected

(i)-Circular platform having ability to rotate about the vertical (y) axis serving as the base of the arm.

It is connected to a servo motor. (ii)-Motor for controlling arm to move forward or backward i.e. capable of rotating about the (z) axis.

It will be a servo motor. (iii)-Same as motor (ii) (iv)-Motor for controlling the lower jaw of the clipper, again being a servo motor

Victim and bridge can be lifted by same mechanism.

The gripper picks up the victims, then the arm moves such that it is above the compartment on the chassis

Jaw opened to drop victims in the compartment.