After much testing, the treads I was using kept slipping off both sides. The right side more than the left, but still, it was becoming obvious that a complete redesign was necessary. No matter how I arranged the wheels, sprockets, and treads, however, I had the same problem. I probably would have needed tensioners and something to ensure that everything was perfectly aligned and level. In the end, I decided to scrap the tracked system.
I did some research into wheels that would provide good traction and work well in an all-wheel drive system, as I still wanted K-9 to be able to spin in place and make effective turns. That was when I discovered mecanum wheels. These wheels are simply bad-ass! With these in the proper configuration, a vehicle/robot can not only spin in place, it can effortlessly move in all eight compass directions! Yes, even slide to the left or right!
So I saved up and bought two left-sided and two right-sided mecanum wheels, hubs, and four new servos that matched the hubs. They work beautifully.
Per my planned iterations of K-9’s designs, I am currently at what I’ve dubbed K-3. At Phase K-3, the Raspberry Pi and servos are mounted to the chassis and the servos have the sprockets attached to drive the tracks. This video […]
“I love deadlines. I like the whooshing noise they make as they fly by.” – Douglas Adams I think my wife might believe that sound is the whirring noise of a sewing machine. Time may indeed be an illusion and also wibbly-wobbly, but deadlines are fixed points in time and space. With the convention only […]
As I am building The Doctor’s loyal robotic canine companion K-9, I realized there would be many stages of development, which I have dubbed K-1 through to K-9. Here’s how I am planning out these phases. In the notes below, Rpi is the Raspberry Pi 3 Model B I am using for the computer brain. Build a […]
…there was a tradition of telling tales with elements of the fantastic along with the frightful. Adults and children alike took heed not to go into the deep, dark woods, treat a stranger poorly, or make a deal with someone-or something-without regard for the consequences. Be careful of what you wish for, you just might […]
The current challenge for pulling together my Doctor Who costume is making the gloriously colorful frock coat worn by the Sixth Doctor as portrayed by Colin Baker. I’ve long adored this coat and wished I had one. My wife has agreed to make it and I am helping her with it where I can. She’s […]
After much consideration, I decided I’d like to get some goodies along with my Raspberry Pi 3 Model B. The CanaKit Raspberry Pi 3 Ultimate Starter Kit (32 GB Edition) is what I ultimately purchased. It just arrived and I am glad I bought it as it has everything a noob like me needs and […]
For those who may not have watched Doctor Who, or have only seen recent episodes, here is a bit of explanation from Wikipedia about K-9. K-9 is a robot dog acquired by Doctor Who‘s title character in the 1977 serial The Invisible Enemy. The first two incarnations of the character travelled alongside the fourth Doctor (portrayed by Tom […]
As I was deciding what I would use to build K-9’s chassis and body framework, the immediate thought I had was to use an Erector set. I never had one while I was young as I preferred LEGOs as a kid. However, it seemed to me to provide ease of construction, versatility of parts, and yet still […]