Structural Design Considerations

• Small or 0° turn radius• Given size restriction and ground clearance• Friction• Type of drive-train• Weight and center of gravity location

Wheels • First considered to determine range of chassis

size to work with• Quantity and type which help with finalizing

drive-train• Explored track style, multi-directional and

standard hobbyist rubber wheels• Size to provide enough ground clearance

Chassis and Drive-train

• Shapes and sizes– Square, triangular and rectangular

• Material– Lightweight and easy to machine

• Deck quantity• Quantity, speed and torque of motors• Steering mechanism

Wheels-Current Design

• Multi-directional – Rubber coated to provide enough friction– (4) 4” diameter wheels– Assembled 90° apart– Provides 0° turn radius

Chassis and Drive-train/Current Design

• Octagonal shape keeping wheels 90° apart• Aluminum chassis• Two decks • Four modified servos to drive• No steering required

Rough Assembly Sketch

Possible Structural Issues• Amount of stress on shaft of servos– Possibly perform FEA to determine max stress

• Clearance with face of wheels– Approach carpet/ramps at different angle– Change wheels (last resort)

• Vibration– Change thickness or material of chassis for more

flexibility– Shock absorption on wheel (last resort)