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Objective
Objective
The goal of this project was to create a robot that could lift soup cans off of a small shelf and transport them through a small tunnel, without dropping them, as fast as possible. Some requirements include:
Maximum physical space of 12" x 6" x 7"
Maximum of 4 AA batteries
$300 maximum budget
With a few exceptions like batteries and controller not included in budget
Mathematically comparable to real design, output, and result
Sub-Systems
Sub-Systems
Chassis
Chassis
To begin, we designed a 3D-printed chassis to serve as the base of our robot, providing a stable structure to house all key components. Instead of traditional rear wheels, we implemented small casters to enable forklift-style maneuverability. The battery housing was secured with Velcro, offering both stability and ease of replacement. Other electronic components, such as the microcontroller and servo motors, were firmly mounted using bolts.
Lifter
Lifter
The lifting system was designed with compactness and structural support in mind. To achieve this, we chose a rack and pinion mechanism, which offers a space-efficient solution with sufficient strength to handle the load. Lightweight yet durable brass rack and pinion gears were selected to minimize weight without compromising rigidity. Radial ball bearings ensured smooth and consistent gear engagement.
To further enhance stability, linear rods were incorporated into the design. These ceramic-coated aluminum rods were machined to the required length for a precise fit. A limit switch was mounted on the rods to define the maximum height the gripper could reach.
Gripper
Gripper
The gripper design was intentionally kept simple for ease of use and reliability. A 3D-printed fork mechanism was implemented, shaped using the radius of the can to ensure a snug and secure fit. To mitigate potential binding during lifting, self-aligning linear bearings were integrated into the lifting system. Supported by linear rods and reinforced with a high infill percentage in the print, the gripper exhibited minimal deflection—calculated at just 0.0112 inches under full load at the tip—well within acceptable limits.
Drivetrain
Drivetrain
The robot’s driving force is provided by two HS-488HB servos, which were modified for continuous rotation. Aluminum hubs were mounted on the servos, with 3D-printed wheels bolted onto them. As previously mentioned, we opted for pivot-style controls to drive and steer the robot. To enhance grip and traction on the slick and dusty wooden surface used for the competition, rubber bands were added to the wheels, providing better stability and control.
Electrical
Electrical
To complete the subsystems, the electrical components were carefully selected. Lithium batteries were chosen for their high energy density, ensuring longer operation. For control, we adapted a PS3 Bluetooth controller, providing both familiarity and a wide range of input options. The microcontroller used was an ESP32-WROOM, which interfaced with the controller to manage the three onboard servos.
Competition Run
Competition Run
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