ExpandiBot | sjsoutherland

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ExpandiBot

Member of 4 person team which designed a robotic wheel which could change
diameter and tread type based on the environment. Applications in variable terrain environment to avoid
obstacles, improve traction, or increase clearance.

Wheel Details Rendering CAD rendering depicting a wheel in expanded mode.	Changeable Wheel Applications Two potential applications for instantaneous variation in wheel size or tread time	Robot Modes Left: Collapsed State - Stealthy Mode Middle: Half - Open State - Wobbly Mode Right: Open State - Aggressive Mode
States	Wheels Close up view of final design showing collapsed mode.	Gears Close-up on custom 3D printed gear and lase cut wheel sides.
1st Prototype 1st generation prototype used to verify design components	2nd Prototype second generation electronics prototype	Motors and Gears Close-up on internal axis showing the 4 stepper motors and the 1 to 4 ratio gears.
Electronics Interior Body including Arduino shelf with electronics and stepper motors.	Electronics Schematic	Wheel Section Diagram Detail diagram breaking down the arrangement of the central shaft and sync'd stepper motors and gears.
Wheel Details Rendering CAD rendering depicting a wheel in collapsed mode and changing between modes.	Wheel Details Rendering CAD rendering depicting a wheel in expanded mode.	Wheel Details Rendering CAD rendering depicting a wheel in expanded mode.
Drawing

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