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Unread 28-12-2003, 17:43
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Robotics Fiend
AKA: Matt Zitzmann
None #0302 (Mechanical Dragons)
Team Role: Student
 
Join Date: Nov 2003
Location: Cambridge, Massachusetts
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Caster Mechanism

I was wondering if a team has ever created a caster mechanism that raises and lowers one end of a robot. I know this is an easy mechanism to produce, but I would love to actuate it with just one window motor.

With a 4-wheel drive robot, the caster mechanism would have to lift 1/2 of the robot weight (assuming the weight is evenly distributed), which is 65 lbs = 289.5 Newtons. According to the specs the window motor is going to provide approximately 4.6 Nm of torque (this is 1/2 of the stall torque), which means the lever arm (off the motor) must be pretty small - or - one could gear the window motor down to achieve this actuation, but then speed of the caster actuation is lessened.

I would love to have two casters that work off of one mechanism allowing to lift the robot up and down off the ground.

Appreciate any tips!