As simple as it sounds, all that one needs is two steering assemblies and one rotor assembly.
The choice of actuators ranges from DC motors coupled with encoders (like in our case) to simple RC servo motors. Full rotation might be needed for advanced gait generation, but simple bounded rotation can be achieved with simple RC servo motors.
The majority of the parts is custom made. The list of raw materials goes as follows:
Chassis: 50X60cm 12mm Plexiglass
Flywheel: 8mm thick steel disk, 27 cm diameter.
steel 8cm diameter rod, 15cm in length
steel 2cm diameter rod, 15cm in length
In addition, we bought many non custom parts:
1X Drill rod (12 inch in length) from Mcmaster (part # 4345T41
4XFriction wheels from Mcmaster (part # 2471K26
2X Creeper caster wheels(Mcmaster part # 2475T6
) (Any caster wheel works)
Arduino Mega (Uno if servos were used)
2X DC motors (24V Planetary Gbox 100:1
2X optical encoders AMT103
2X 10mmX26mm bearings(SKF part #6000-2RSH)
(24 X) 8mm washers
(28 X) 3mm washers
(8 X) 3*25mm bolt
(4 X) 8*70mm bolt
(8 X) 8*40mm bolt
(12 X) 3*10mm bolt
(12 X) 3mm nut
(12 X) 8mm nut
(4X) 5*5mm Allen screw
(2X) 6*6mm Allen screwPower:
11.1V 2200mAh Lipo Batteries but any regular Ni-Cd battery (heavy) will do the job.Communication:
Wireless communication (bluetooth) was used for teleoperating the robot. Low cost Bluetooth adapter ARF32
or MikroElektronika Bluetooth Stick
can do the job.