![]() ![]() ![]() Sourcing Parts: All of the necessary parts have been compiled, as well as resources to review their specifications and links to where the parts can be purchased.Only use the rolling of the tri-star on stairs.This Instructable will show you how to build a tracked Arduino-controlled robot. One thing you could do today, though, would be to set things up as a "self-balancing" robot - and only put one point of contact (one wheel) on each tri-start arrangement in effect, drive on the apex instead of a "base" - that would eliminate the multiple contact patches, and remove the skidding issue (at a cost of much more complexity of course). With the right sized base, there'd be less "skidding" involved (though you'll never eliminate it fully with multiple contact patches). While you might note that most of these examples use four tri-star "wheels", Weinstein's idea was to use only a single "wheel" on each side, and drive them in a differential manner. You can find more examples here, too (note, this site is worth keeping bookmarked for ideas): In it, Weinstein details how to design such a wheel system for an anthropomorphic style robot in order to navigate up and down stairs the idea being to use a tri-star "wheel" on each side of the machine, and as the machine drives up/down the stairs, orient the body relative to the wheels to remain vertical, so that the machine doesn't tumble.Ī similar type system has been used for electric wheelchairs - here's a recent implementation: "Android Design" by Martin Bradley Weinstein (ISBN 0-8104-5192-1, Hayden Book Company 1981) It's virtually made for traversing stairs and other similar obstacles it's most noted real-world use was for the Damnation Alley Landmaster (actual vehicle!):įrom a robotics perspective, you might try to get hold of this particular book (it is out of print - but a used copy should be possible to obtain): Instead of using four wheels, with a motor for each, consider using a tri-star "wheel" system: Depending on the size and weight of the robot, tank treads can shred carpet, scratch wood floors, etc. ![]()
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