Mechanics - Revision history

S252724: /* Main Mechanical Parts */

2026-05-28T11:12:59Z

Main Mechanical Parts

← Older revision		Revision as of 13:12, 28 May 2026
Line 11:		Line 11:
	The drawings can be accessed here: https://cad.onshape.com/documents/c3f44096b0f5e4646ed48e3f/w/670467f68cac02b087631e3d/e/e591dbcff8879adc4528ee2b		The drawings can be accessed here: https://cad.onshape.com/documents/c3f44096b0f5e4646ed48e3f/w/670467f68cac02b087631e3d/e/e591dbcff8879adc4528ee2b
	== Main Mechanical Parts ==		== Main Mechanical Parts ==

			=== Front Wheel ===
			The front wheel plays an important role in the robot’s movement and overall cleaning performance. It helps guide and steer the robot as it moves through the environment, allowing it to turn, follow paths, and navigate around obstacles while cleaning. As a result, the stability and rigidity of the front wheel directly affect both motion accuracy and mapping quality.

			==== Previous Design ====
			The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.

			==== Current Design ====
			The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

			The updated design is available at this link: https://cad.onshape.com/documents/d35a3b26eb917ad7000d2d0c/w/821c3ada1e18c2055d92ea08/e/35b8a6b1c67d3640704aa6e7 as a downloadable ZIP file for future modification and improvement.

			==== Future Work ====
			Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

			Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S252724: /* Front Wheel Design */

2026-05-28T11:06:14Z

Front Wheel Design

← Older revision		Revision as of 13:06, 28 May 2026
Line 11:		Line 11:
	The drawings can be accessed here: https://cad.onshape.com/documents/c3f44096b0f5e4646ed48e3f/w/670467f68cac02b087631e3d/e/e591dbcff8879adc4528ee2b		The drawings can be accessed here: https://cad.onshape.com/documents/c3f44096b0f5e4646ed48e3f/w/670467f68cac02b087631e3d/e/e591dbcff8879adc4528ee2b
	== Main Mechanical Parts ==		== Main Mechanical Parts ==

	~~== Front Wheel Design ==~~
	~~=== Previous Design ===~~
	The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.
	~~=== Current Design ===~~
	The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

	~~The updated design is available on this website as a downloadable ZIP file for future modification and improvement.~~

	~~=== Future Works ===~~
	Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

	Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S252724: /* Front Wheel Design */

2026-05-28T11:05:39Z

Front Wheel Design

← Older revision		Revision as of 13:05, 28 May 2026
Line 12:		Line 12:
	== Main Mechanical Parts ==		== Main Mechanical Parts ==

	=== Front Wheel Design ===		== Front Wheel Design ==
			=== Previous Design ===
			The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.
			=== Current Design ===
			The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

			The updated design is available on this website as a downloadable ZIP file for future modification and improvement.

			=== Future Works ===
			Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

			Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S252724: /* Main Mechanical Parts */

2026-05-28T11:05:25Z

Main Mechanical Parts

← Older revision		Revision as of 13:05, 28 May 2026
Line 13:		Line 13:

	=== Front Wheel Design ===		=== Front Wheel Design ===

	~~=== Previous Design ===~~
	The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.
	~~=== Current Design ===~~
	The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

	~~The updated design is available on this website as a downloadable ZIP file for future modification and improvement.~~

	~~=== Future Works ===~~
	Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

	Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S252724: /* Front Wheel Design */

2026-05-28T11:05:10Z

Front Wheel Design

← Older revision		Revision as of 13:05, 28 May 2026
Line 13:		Line 13:

	=== Front Wheel Design ===		=== Front Wheel Design ===

	=== Previous Design ===		=== Previous Design ===
	The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.		The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.

S252724: /* Front Wheel Design */

2026-05-28T11:05:01Z

Front Wheel Design

← Older revision		Revision as of 13:05, 28 May 2026
Line 13:		Line 13:

	=== Front Wheel Design ===		=== Front Wheel Design ===
			=== Previous Design ===
			The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.
			=== Current Design ===
			The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

			The updated design is available on this website as a downloadable ZIP file for future modification and improvement.

			=== Future Works ===
			Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

			Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S252724: /* Main Mechanical Parts */

2026-05-28T11:04:54Z

Main Mechanical Parts

← Older revision		Revision as of 13:04, 28 May 2026
Line 13:		Line 13:

	=== Front Wheel Design ===		=== Front Wheel Design ===

	~~=== Previous Design ===~~
	The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.
	~~=== Current Design ===~~
	The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

	~~The updated design is available on this website as a downloadable ZIP file for future modification and improvement.~~

	~~=== Future Works ===~~
	Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

	Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S252724: /* Front Wheel Design */

2026-05-28T11:04:45Z

Front Wheel Design

← Older revision		Revision as of 13:04, 28 May 2026
Line 13:		Line 13:

	=== Front Wheel Design ===		=== Front Wheel Design ===

	=== Previous Design ===		=== Previous Design ===
	The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.		The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.

S252724: /* Front Wheel Design */

2026-05-28T11:02:53Z

Front Wheel Design

← Older revision		Revision as of 13:02, 28 May 2026
Line 13:		Line 13:

	=== Front Wheel Design ===		=== Front Wheel Design ===
			=== Previous Design ===
			The original front wheel assembly was one of the main mechanical weaknesses of the robot. Its low rigidity caused wobbling during motion, which negatively affected odometry and reduced movement stability. This introduced drift in the generated map and lowered the overall quality of localization and navigation.
			=== Current Design ===
			The wheel assembly was redesigned by adding ball bearings, increasing the infill of the 3D-printed parts, and mounting the magnetic encoder more securely. These changes improved rigidity, produced steadier motion, and reduced map drift.

	The ~~rigidity of the front wheel was~~ a ~~significant flaw of the robot, affecting the odometry~~ and ~~the movement. We improve it by adding ball bearings, increasing the infill of the 3D printed parts and fixing correctly the magnetic encoder~~.		The updated design is available on this website as a downloadable ZIP file for future modification and improvement.

	~~This changes had a great effect in~~ the ~~performance of~~ the ~~robot~~. ~~But there are things that can be enhance~~.		=== Future Works ===
			Although the redesigned front wheel performs better, the current structure still relies on plastic components that may loosen, deform, or wear over time during repeated use. Future work should evaluate whether a tighter mechanical design, a stronger filament material, or a different material altogether would provide better long-term rigidity and durability.

	~~The~~ support that ~~fix~~ the linear actuator to the robot ~~must~~ be reprinted~~. Increasing the~~ infill and ~~the width of the two thin~~ walls ~~in the sides~~.		Another component that should be improved is the support that attaches the linear actuator to the robot. This part should be reprinted with higher infill and thicker side walls to increase its strength and reduce flex during operation. Future team members can assess whether these further changes are necessary based on long-term use and observed wear.

S253745 at 12:28, 27 May 2026

2026-05-27T12:28:23Z

← Older revision		Revision as of 14:28, 27 May 2026
Line 1:		Line 1:
	Back to [[~~fejemis~~]]		Back to [[Fejemis_2026]]

	== General Description ==		== General Description ==