Andrew Burks

Vibratron: Fitting Through Doors

by on Jan.19, 2011, under RobOrchestra, Robotics Club, Vibratron

Something I never considered when designing previous versions of Vibratron was its ability to fit through doors.  While the old design could fit through a set of double doors, we wanted the entire robot to be able to fit through a standard door.  This change in criteria required some major changes in the design of a few parts of the Vibraphone.  It also allowed for a few other system upgrades in the process.  Keep in mind that all of the renders here do not include any foam/cloth skin that will be used to contain the balls.

Full Model No Skin - Iso

Giant Circle Full of Key Units

The large waterjet circle that held up all of the key units was three feet in diameter.  Combined with the overhang of some of the key units, the diameter of the robot was at nearly five feet.  Separating the giant circle into two large semicircles fixes the problem pretty easily.  Hand grips were added so that the semicircles could be carried easily.  Even though they are 25 pounds each, the semicircles can be carried close to the body with arms locked, which is a requirement for simple transportation of the machine.

Giant SemiCircle

Full Model No Skin - Topish

Fold Out Wings

Instead of the large fixed upside-down-umbrella style from the previous design, this design has four fold out “wings” that catch the balls and funnel them towards the center.  The overall diameter is six feet when open, but the wings can fold up completely vertically alongside the column.  Between each wing is a pie-wedge shaped piece of cloth or foam.  This has a duel purpose of funneling balls toward the center and regulating the deployment height of the wings.  When the wings are raised, the compliance of the cloth/foam will allow it to fold.

Full Model No Skin Collaped - Iso

Deeper Square Basin

The previous basin was a thin circle, but our research with the prototype of the recirculation system has suggested that we will need many more balls in the system to reach steady state.  A wide square basin rigidly integrated with the vertical columns can hold the necessary volume of balls.  Four trapezoidal sheets of plastic also keep the balls rolling towards the center of the basin.

Basin Closeup

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