Lego Design - SIUE Robotics乐高设计SIUE机器人.ppt

LEGO Design SIUE School of Engineering Fall, 2005 Goals: Build better robots Minimize mechanical breakdowns Build robots that are easy to control Encourage good design strategy Geometry 1-stud brick dimensions: exactly 5/16” x 5/16” x 3/8” (excluding stud height 1/16”), This is the base geometry for all LEGO components Structure Common pitfall when trying to increase mechanical robustness: Structure The right way: Structure The right way: A good robot starts with a good foundation. A robot whose body is not structurally sound will be fraught with problems for the designers. The first and most important is that the friction between stacked bricks should not be relied upon for structural strength. We recommend using connector pegs to help create a skeleton like the one below. A design like this is both light and strong but usually requires a number of rebuilds to get perfect. Structural supports like the ones shown below can be placed on almost any chassis design. Use this to your advantage. You can get by with fewer legos and have a stronger chassis this way The picture below demonstrates a very structurally sound way of constructing a frame with legos. The 3 wide connector peg can be used for one of the 3 join points, or an additional 4x1 brick can be used. The structure below demonstrates a very strong design that will not come apart unless you take it apart. Connector pegs Black pegs are tight-fitting for locking bricks together. Grey pegs turn smoothly in bricks for making a pivot Connector Pegs Drivetrain LEGO Gears Seesaw Physics Radius, Torque, and Force on a Gear 3 to 1 reduction Since the forces between the teeth of the two gears are equal in magnitude but act opposite in directions, the torque exerted on the right axle is three times the torque exerted on the left axle (since the radii of thee gears differ by a factor of three). Thus this gear system as acts as a “torque converter”, increasing the torque at the expense of decreasing the rate