V2 Drivetrain design and construction

Introduction

In order to improve some aspects of the robot a redesign which has the following features:

” Improved use of space leaving plenty of it for components. “ Added 1 DOF which is rotation around Z axis. “ Added a bearing with a cable pass-through. “ Encoder for velocity and position. “ Added protected Li-Ion batteries.

Fusion 360 Design

The final design in fusion 360 can be seen in the following pictures.

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Design of V2 Sphere Robot.

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Design of V2 Sphere Robot.

Fabrication

As with the version 1 of the robot the parts where fabricated using a 3D printer, the difference was the printing material is PLA instead of ABS.

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3D Printing of the body.

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3D Printing of the body.

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Printed pieces.

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Main body with batteries.

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Assembly of lower part.

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Assembly of top part.

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Assembly of body center.

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