Robert: the Personal Home Assistant

First things first: The only software other than photoshop [for converting .mp4 to .gif ] used for this project is Fusion 360 , i used it for Modelling,Sculpting,Rendering,Animating, this Robot.//////// Introduction//////////// Robert is a personal assistant that can be programmed do most of the things a human can. you can schedule it to do anything you want or call him to do a task. This Robot can assist you in your daily domestic work, like assistance in laundry , moving stuff at your command and most of the household chores . In the busy modern life we find it difficult to manage the household chores , that's where Robert comes in , it takes the household chores off your back.and leaves you more time to relax and do other work , i designed this robot around your requirement of the robot -" Innovative robot before 2025 that will HELP RUN A MODERN HOME" and made it a versatile and relatively affordable[ when compared to regular humanoid robots] for home use . //////////// MAIN DESIGN GOALS ////////////// 1) it should be affordable without compromising functionality////// 2) it should be good looking//////////// 3) it should be versatile//////// 4) it should be feasible as a relatively affordable product for home use before 2025 ////////////////////////////// Robert has two robotic arms with 6 axis of freedom i choose not to have more than 2 arms because it shoots up the price and complexity without adding much functionality ./////// i did not choose to design a regular humanoid robot with legs because each leg needs approximately 5 stepper motors and developing it will be expensive which shoots up the price .there is a better way to do it which is much cheaper and much less complex: My design inspired by the stair climbing wheelchair only requires two motors and only builds on existing self balancing robot technology and is cheap.It is basically a self balancing robot on tracks which is controlled by a brush-less out-runner motor inside the drive pulley [ the big belt pulley you see in the animation] for driving each track and the entire track is tilted by a stepper motor.The idler pulley[the smaller pulley of the belt you see in the animation] is smaller than the drive pulley because a bigger one may obstruct the motion of the arm and a smaller idler pulley will increase the contact between drive pulley and belt.This design is clearly explained by the animation THE FIRST ANIMATION YOU SEE WAS DONE IN THE ANIMATION WORK-SPACE IN FUSION 360. This design allows it to climb stairs and raise its height [ refer the renderings ] by tilting the tracks. This is possible because the pivot point of the track is not in the center of the track . This allows for 3 modes : ///////////////// 1 : short mode //////////// short mode is with the tracks in 'retracted' position this allows it to have minimal footprint while moving indoors ///////////////////// 2 : Tracks mode /////////////// this mode gives maximum stability to the robot , it is used while negotiating stairs , travelling in uneven surface like garden, carrying a heavy load, etc /////////////// 3 : extended mode ////////// extended mode allows it to reach objects that is taller than its reach in the short mode .///////////////////// it can switch between modes by precisely moving its track drive motors and the track tilt motor . please note that the motor with gears you see in the animation controls the tilt of the track in respect to the body and does not drive the track. the motor the brushless outrunner motor which drives/moves the track is inside the big belt pulley you see in the animation. it can sense it orientation thanks to the gyroscope and accelerometer built into it . The robot has sensors and cameras embedded in the head , below chest , in hand [ synthetic touch from 'RadarCat' project. i'm not sure if its feasible or not if not substitute it with force sensor ]. the sensor that detect touch will enable it to properly hold a paper cup and lift heavy objects. All these sensors coupled with cameras in head for facial recognition, integration with machine learning can maximize its functionality. /////////////// it is designed to work with IOT . although i didn't use decal in the render an OLED screen on its face blended in with the color and shape of the face which can display emotions will make it more friendly ./////////////////// I used GOLDEN RATIO (1:1.618) most of the place it applies[for example: the concentric circles in the ankle joint render are in golden ratio] to make it good looking and that's a big reason why Robert looks so good .But its not perfect, i feel like reducing the width of the robot a little bit although its in golden ratio. the robot has a touchscreen in the chest portion ergonomically angled to provide optimal visibility to the user , it is intended to be used while in extended mode. //////////////////// ABOUT CLIMBING STAIRS: /////////////////// in order for a track to climb a stair the robot shifts to' track mode' close to the step and begins to climb . At least 3 steps should be in contact with the tracks and the tracks should have something to grip on the stairs , i used grooves on the track to do it. in order to prevent it from tipping over it can adjust the position of the body such that the perpendicular from the center of gravity to the horizontal should be within the base of support [not yet taught in my school but thanks to the internet] . I did a center of mass analysis while the robot climbs the stair in both the position shown in the renders both of them works well because the center of mass is right at the hip of the robot and well within the base of support. but the second position is much safer/////////////// when its time to charge it goes to its charging station to recharge. //////////////////////////// hope my design is clear feel free to ask questions regarding my design thank you :)///////////////////////////// regarding myself : i'm a 16 yr old 11th grade student mad about technology ///////////////////// Design link:[http://a360.co/2heDq9r] ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ links of a few things referred in the description;//////////////////////////////////////////////// RadarCat:https://sachi.cs.st-andrews.ac.uk/research/interaction/radarcat-exploits-googles-soli-radar-sensor-for-object-and-material-recognition/ ///////////////////////////////////////////////////////////////////////////////////////////// Stair climbing wheelchair: https://www.youtube.com/watch?v=3lb_8nmy90c