The first prototype had the same wheels that were used in the final product. The only exception is the gear ratio. The gear ratio could barely climb a 30 degree incline because the gear ratio was for speed, not torque.
The second prototype had the corrected gear ratio so it could now climb a 50 degree incline. Anything higher than that it would begin to slip due to the lack of friction on the wheels.
The third prototype had a clamp under it so it would clamp on the other side of the ramp. this added another 20-30 degrees to it so it could now climb a 70-80 degree ramp.
The fourth prototype had some minor adjustments to the clamp so it was more stable. it was clamped so to much friction wasn't retarding it of its progress up the ramp but it didn't not have enouh friction to let it slip. it could climb an 80-85 degree ramp now.
The program that used to control my robot was an app on my phone. I had to establish a Bluetooth connection for it to work.
1. The assignment I had to do was to create an nxt robot that could climb a 90 degree wall.
2. I needed to know certain gear ratios to get better torque so the robot could climb the 90 degree wall.
3. What I did first was build wheels with gears on them to have a high enough torque. after that a built two wheels that weren't attached to any wheels to add more stability to the robot. I tried the robot out but it failed, the wheels itself were its own worst enemy. The robot would have enough grip to hold on at a 60 degree angle but then it would slip down once the motors were activated. I then added a clamp that would clamp to the backside of the wall to give it something to hold onto. with some minor adjustments I was able to get it to clamp onto the wall without adding to much friction. I then tested my robot and it did very well.
4. The final product has two high torque motor where each motor has two wheels attached to it. on the opposite side of the robot it has two wheels that aren't attach to any motors. on the underside of the robot it has a clamp that would clamp to the side of the wall.
5. I received some suggestions that I should actually place two wheels on the outer edges of the walls, that would have made this challenge much easier. so I actually took the clamp and made it smaller and tighter on the edges of the wall.
6. I learned about the certain gear ratios of torque and speed. I also learned how to attack problems in different ways tan before.
7. I would attach two motors to the out edges of the walls with wheels so I wouldn't have to worry about torque. all I would have to do is find the distance from one edge to another and attach the wheels to it with a clamp on the other side. this wouldn't shorten the time constructing the wheels with the torque and the overall weight of the robot.
2. I needed to know certain gear ratios to get better torque so the robot could climb the 90 degree wall.
3. What I did first was build wheels with gears on them to have a high enough torque. after that a built two wheels that weren't attached to any wheels to add more stability to the robot. I tried the robot out but it failed, the wheels itself were its own worst enemy. The robot would have enough grip to hold on at a 60 degree angle but then it would slip down once the motors were activated. I then added a clamp that would clamp to the backside of the wall to give it something to hold onto. with some minor adjustments I was able to get it to clamp onto the wall without adding to much friction. I then tested my robot and it did very well.
4. The final product has two high torque motor where each motor has two wheels attached to it. on the opposite side of the robot it has two wheels that aren't attach to any motors. on the underside of the robot it has a clamp that would clamp to the side of the wall.
5. I received some suggestions that I should actually place two wheels on the outer edges of the walls, that would have made this challenge much easier. so I actually took the clamp and made it smaller and tighter on the edges of the wall.
6. I learned about the certain gear ratios of torque and speed. I also learned how to attack problems in different ways tan before.
7. I would attach two motors to the out edges of the walls with wheels so I wouldn't have to worry about torque. all I would have to do is find the distance from one edge to another and attach the wheels to it with a clamp on the other side. this wouldn't shorten the time constructing the wheels with the torque and the overall weight of the robot.