Wedgy

Wedgy was a proof of concept for the Master Mini-Sumo division at the Eastern Canadian Robot Games. The Masters Division uses a steel ring, and magnets are allowed. Wedgy came in 1st place, so I guess the concept works :)

Wedgy

I slapped Wedgy together in a week. Most of the time was spent on the motor arrangment. Bigger...

Rear View

Here you can see the motors, and the CPU board. A single 9v battery slides in over the left wheel. Bigger...

Opened up

Everything is much easier to see with the cover off. The CPU board is one of Larry Barello's AVR Robot Contoller boards. I had an older 1.0 board, which I put a Mega-16 on. Bigger...

Motor Arrangment

I used a couple of servos in an interesting fashion. Bigger...

Motor Closeup

I gutted the electronics from the servos so that I could sqeeze them together. These were originally Hitec HS-945MG servos, that I put a 925MG geartrain in. Bigger...

Bottom View of Motors

Heres the bottom view. The piece of aluminum is that the motors are mounted to and the two holes in the aluminum are how it mounts to the chassis. Bigger...

Magnetic Wheels

This is the concept I was trying out. Take a cylindrical rare earth magnet (the darker ring) and use them for wheels. I purchased the magnets from House of Science in Seattle (see the very bottom of the page). The hub as machned from aluminum and I used Loctite to secure the hub to the magnet. Bigger...

Wheel Mount

Here you can see the cut down servo horn which was used to attach the hub to the motor. The magnet wheels roll suprisingly easy on a steel surface. I originally made the tire out of A-20 polyurethane, but it was too soft and the magnets would deform it right off the wheels. I upgraded to A-60 and things are much better. Bigger...


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Copyright 2006 by Dave Hylands