Mechanics

Back to Fejemis_2026

General Description

Fejemis is a three wheels mobile robot. The front part in yellow and black is a commercial brush for industry floor. The manual handle has been replaced with the Fejemis drive system. The front wheel can be lowered to allow the brush to be lifted when not in use.

It has been modeled in the cad program OnShape, as you can see in the next figure.

The drawings can be accessed here: https://cad.onshape.com/documents/c3f44096b0f5e4646ed48e3f/w/670467f68cac02b087631e3d/e/e591dbcff8879adc4528ee2b

Main Mechanical Parts

Front Wheel Design

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.

This changes had a great effect in the performance of the robot. But there are things that can be enhance.

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.