Our goal so far this week has been to finish everything necessary in order to meet with our GSI for the most critical module (MCM) milestone. Our MCM is our driving mechanism, which is shown in the picture below. A large part of the MCM assignment is to create engineering drawings on Solidworks that include specific dimensions. One of our key struggles in designing our driving mechanism was deciding whether to put the motors and axles of the wheels on the top or bottom of our base platform. After looking at the dimension of the wheels and the back ball caster to make sure our machine's body does not tilt, we decided on putting them on top, as you can see in the picture. Hopefully we don't have to change this later!
Meanwhile, we ordered new wheels a few weeks ago because we did not think the kit wheels provided enough friction. The wheels (pictured below) came in today, and they are 3.87" diameter, 1.95" thick, and made out of foam. The total price was $35.93 (tax + shipping included), but we think this was a smart way to spend some of our $100 allowance.
One aspect that we have to look at more is the material that we use to hold our axles. We believe the Aluminum 90 Degree Angle Stock (1"x1", 1/4" thick) will work, but we are going to talk to our GSI tomorrow to make sure that will work, and that we don't need another constraint for each axle. The 3D and orthographic views of our driving module are below.
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