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Duke CPS 004 - Dual Differential Drive Robot

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Dual Differential Drive RobotIntroductionThe instructions below builds a dual differential drive robot that is adapted from the onethat is made in the book Building Robots with Lego Mindstorms by Mario and GiulioFerrari and Ralph Hempel. This model is used because it is by far the most compactversion of a dual differential drive platform I have seen.Drive BaseThis section provides instructions for creating the most essential part of the robot – thedrive base.Step 0: Parts ListFrom left to right and then from top to bottom2 1 x 16 beam1 1 x 12 beam1 1 x 10 beam3 1 x 4 beam1 10 cross axle1 8 cross axle4 6 cross axle3 4 cross axle2 2 x 6 plate with holes2 1 x 6 plate2 2 x 2 plate8 1 x 2 plate with rail2 1 x 2 plate2 24t gear3 16t gear5 8t gear2 24t crown gear6 12t bevel gear2 1 x 3 liftarm4 medium pulley2 blue rubber band2 differential gear box6 2-stud friction pin3 TECHNIC axle pin6 bushing1 axle joiner4 half bushing1 2 x 2 round brick1 2 x 2 round dish2 rubber tire (approximately 42 cm diameter) with wheel center2 geared motorStep 1: 4 1x2 plate with rail, 2 1x16 beamAttach 2 1x2 plate with rail to peg 3 and 4 of each of the 1x16 beams. There should beone on the top and one on the bottom with rails should face inward. Step 2: Step 1, 2 1x4 beam, 4 2-stud friction pinAttach friction pins to hole 14 and 15 (bottom 2) of pieces from step 1 facing outward,and then attach the 1x4 beams. Step 3: 1 1x12 beam, 1 1x4 beam, 2 2-stud friction pinAttach friction pins on the right of hole 1 and 3 to join a 1x4 beam.Step 4: Step 3, 4 1x2 plate with railAttach the 1x2 plate with rail to peg 3 and 4 of the beams from step 2 on the top andbottom with rail facing outward. Step 5: 2 TECHNIC axle pin, 2 1 x 3 liftarmAttach axle pins to both liftarms, one through the other. Step 6: Left half of Step 2, Step 5, 1 16t gear, 1 24t crown gear, 1 length 4 cross axleAttach the piece from step 5 to hole 5 and 7 to the right of the left piece from step 2. Thenuse the length 4 cross axle to join the two gears through hole 6. Step 7: Step 6, 1 16t gear, 1 length 8 cross axleAttach the 16t gear to the left of the piece from step 6 using the length 8 cross axlethrough hole 8. Step 8: Step 7, 1 16t gear, 1 length 4 cross axle, 1 differential gear box, 2 12t bevel gearPosition one 12t bevel gear on the central peg inside the differential gear box and theanother at the left hole. Attach the 16t gear to the left of the piece from step 7 and thedifferential gear box with gears inside to the right. Do this with the length 4 cross axlethrough hole 10.Note: You must put the 12t bevel gear on the central peg first, before placing the 12tbevel gear on the side. Also, make sure the orientation of the differential gear box iscorrect with the 24t gear part to the left. Step 9: Step 8, 2 half bushing, 1 tire with center, 24t gear, 1 bushing, length 6 cross axleAttach the pieces using length 6 cross axle through hole 13 in the following order fromleft to right: half bushing, wheel (indentation in the wheel to the left) , half bushing,beams, 24t gear, bushing. Step 10: Step 9, 1 geared motor, 1 8t gear, Step 4Attach the 8t gear to the cross axle on the motor, and then attach the rails to slots on bothsides of the motor.Note: The long axle with go through hole 8 of the piece from step 4 as well.Step 11: Step 10, 1 bushing, 1 axle joiner, 1 length 6 cross axle, 1 length 10 cross axleUsing the right beam as the center, attach the bushing to the left of hole 6 using the length10 cross axle. Then use the axle joiner to the cross axle through hole 8 on the right.Finally, fit the 12t bevel gear inside the gear box beside the right hole and use the length6 cross axle to attach the gear through hole 10. Step 12: Step 11, 4 medium pulley, 2 blue rubber bandAttach two pulleys on each of the cross axles through hole 6 and 10 of the right beam.The pulleys should reside immediately to the right of that beam. Then, attach both bluerubber bands.Step 13: Step 12, 1 differential gear box, 2 12t bevel gearPosition the two 12t bevel gears inside the differential gear box and attach the 16t portionto the cross axle through hole 10 of the right beam. Step 14: Step 13, 1 geared motor, 1 8t gearAttach the 8t gear onto the motor cross axle and slide the motor into position with therails to the left.Step 15: Step 14, right half of Step 2, 2 bushing, 1 24t crown gearSlide the 24t crown gear on the cross axle to the left until the teeth touch the 8t gear onthe motor. Then add a bushing and attach the railing of the new right beam to the motorso that the cross axle goes through hole 6. Finally, add another bushing. Step 16: Step 15, 1 length 4 cross axle, 1 length 6 cross axle, 1 12t bevel gear, 2 8t gearAttach the length 6 cross axle to the axle joiner through hole 8 on the right beam. Positionthe 12t bevel gear inside the gear box and attach that gear with the length 4 cross axlethrough hole 10. Finally, attach an 8t gear to each of the cross axles just used.Step 17: Step 16, 1 TECHNIC axle pin, 1 8t gearAttach the 8t gear to the axle pin and the combination onto the right beam at hole 9. Step 18: Step 17, 1 bushing, 1 24t gear, 2 half bushing, 1 tire with center, 1 length 6 crossaxleUse the length 6 cross axle through hole 13 attaching bushing and 24t gear to the left andhalf bushing, tire, and half bushing to the right.Step 19: Step 18, 1 1x10 beam, 2 1x6 plateFit the 1x10 beam between the left and right beams at peg 16, and attach it using the two1x6 plate at the bottom. Step 20: Step 19, 2 2x2 plate, 2 1x2 platePut one 2x2 plate at the top center, and another one just below that under the two 1x2plate with rail. Also, place the 2 1x2 plate beneath the 1x2 plate with rail on either side.This should create a smooth surface for the third and fourth rows.Step 21: Step 20, 2 2x6 plateAttach the two 2x6 plate to the third and fourth rows. Step 22: Step 21, 1 2x2 round brick, 1 2x2 round dishAttach the 2x2 round dish to the bottom of the 2x2 round brick, and place thecombination on the top center.The drive base is


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Duke CPS 004 - Dual Differential Drive Robot

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