Overview
Date
November 2019- April 2020
Skills
Rendering, CAD Modelling, Simulation Testing, Ideation and Testing
Software
SolidWorks, SolidWorks Visualise
'This Mini-Wheg is able to traverse difficult terrains at speeds of over 0.5ms-1, and has a long battery life of up to 2 hours per charge, with its component cost being under the price of £100 within set dimensions. It can carry 2x its weight, and is able to turn through an Ackermann steering mechanism'
Miniwheg Purpose
The design of this Mini-Wheg served to be a robust design, capable of having additional components and space inside for electronics and storage for parts. Following the initial brief conditions, a concept was developed.
This project involved creating a multi-terrain robot that was able to traverse and climb objects over a height of 55mm. The Mini-Wheg inspired design was built to last, implementing a long battery life of over 2 hours in a single charge, and high quality of component under the price of £100, set within a space of 160 x 80mm in dimensions.
Ideation
The initial ideation came from inspiration from bugs that exist today, including the beetle and centipedes. Variations and iterations of the designs, including the adaptation of different gear trains, turning systems, and component placing were changed to see how practical each situation is.
Steering and Joint Mechanism
Steering
To achieve a 160mm turning circle with the Ackermann steering model, calculations were implemented to find the optimum angle. These were tested with a linkage model, and fine-tuned to allow a central rack-and-pinion. Fine turning with a simple model was key in completing this.
Joint
This universal ball joint was created in replacement of a traditional universal joint, since it would create gaps during turning, allowing dirt and water to enter, so to counter water damage, a custom ball joint was made, protected in a casing.
Left: Rack and Pinion Layout, Middle: Final Ackermann angles, Right: Universal custom ball joint
Casing and Components
Renders
