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The Challenge:
Create a mechanism that digs through BP1, a moon dust simulant, and extract gravel from the ground.
The Approach:
Use a bucket chain system that extends into the ground as it excavates the ground below.
Design Features:
Hover over the images for details. Videos of the robot is on the bottom of the page.
The system uses a miter gear mechanism to turn a set of V-belt rollers that are attached to the buckets. This helped to reduce the horizontal foot print of the robot and allowed the robot to be inside the competition rules.
Trapezoidal teeth were built into the digging buckets to help break up the gravel as the bucket chain lowers in to the ground. This feature reduces stalling and can be easily produced en mass for all buckets at once.
I also helped to design the lifting mechanism which allows the bucket chain to tilt forwards and backwards with a worm gear drive.
The robot during the actual competition.
The bucket chain mechanism uses a worm drive mechanism for linear movement up and down an ACME threaded rod. This reduces the load on the drive motor and prevent it from burning out.
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