Robot: Dohn Joe (Sub-section )

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Yeah, this one is still under construction. I don't get to work on it as much as I would like with all of the traveling I've been doing for my employer, however the frames below will give you a starting feel for the final assembly.

Finally, here are some of the first assembly pictures of the carriage. Coming soon, the motor hangers will be installed along with other functional components.		Body Components Assembled
W/Motors & Batteries	More progress... It's been a while coming, but here is the next step in the assembly. There are still a bunch of small holes that need to be drilled & tapped for set screws. Additionally, the motor hangers still need to be slit & a pinch mechanism designed. It's coming along, more to follow...
This photo shows a close up of the motor mount clamping mechanism. The wheel axel mounting assembly with two internal berring assemblies is seen center. Around this a clamp is formed with the motor mount and the stainless steel #6-32 screw (bottom-right). On the inside the axel it'self has a button head which pulls against a radial needle thrust berring. The button head is formed by the use of an injection molding ejector pin. A second radial needle thrust berring is placed over the shaft on the outside (visible in this picture) before final assembly as well to take up forces in all directions.		Motor Mount Clamping Assy
Wheel Mech Assy	This photo shows a good overview of the wheel mechanism. Specifically, the motor rise mount can be seen clamped around the axel support block. In the center of the axel support block the back of the ejector pin head that forms the rear end of the axel. The belt coming from the small motor pulley can be seen wrapped around the larger wheel pulley.
Some where in the middle of this development, I built this prototype. Many of the components used in the final robot can be seen here. It does however contain the old wheels and the motors supports are at 180-deg not tilted up at 90-deg like they are in the final version. The model for this version (minus the sensors) can be seen in the CAD models section.		Middle Prototype Assy
And here they are..., the components under the front camera rotation assembly. No berrings here, a simple piece of 1/8" drill rod sitting in a reamed hole through the aluminum. At the top and bottom it's captured (from oposite sides) by a #6-32 set screw. The drill rod has machined flats to accept the cup point set screw. The flats allow for material deformation while allowing the mechanism to later be easily be dissasembled.		Vid Rot Assy
Vid Sub Assy	The two independant turning mechanisms will allow the robot to acomplish two seperate tasks. 1, the parallax between the two cameras can be adjusted to help with the optics on far away objects. 2, the robot will be able to look right & left into rooms without needing to slow down/turn while driving by. Using servos for this stask is almost like cheating rather than a closed loop DC motor system, but the built in gearing on the servo's were just too convenient to pass up.
Construction Sub Assy	The two independant turning mechanisms will allow the robot to acomplish two seperate tasks. 1, the parallax between the two cameras can be adjusted to help with the optics on far away objects. 2, the robot will be able to look right & left into rooms without needing to slow down/turn while driving by. Using servos for this stask is almost like cheating rather than a closed loop DC motor system, but the built in gearing on the servo's were just too convenient to pass up.

Photo Taken by: Rik Lambey

For additional resource information, or help on trying to locate components, electrical or mechanical, refer to the Links section of this page, left. Back(03) Index ... Next(05)