- Entire view of Driving
part
Driving Part contains three components.
► Modular design
• Wheel can be easily disassembled from the driving part.
► Robust design
• The wheel axis is supported by two ball bearings on both
sides and these bearings sustain all loads of the robot. This structure prevents
that the force (due to the robot weight) is delivered to the motor axis and
guarantees the stable motor movement.
2) Four
Tape detect sensors
► Inner two tape sensors are for tape tracking, and outer
two sensors are for tape end sensing (T-shaped).
► The center-to-center distance
of inner two tape sensors is exactly the width of the tape (1”). This is for our
PD control algorithm for tape tracking.
3) Circuits
► Easy maintenance
• All circuits necessary to drive the robot are loaded on
the open-spaced back side of the driving part. The access to the circuits is very
easy, and it greatly helps the maintenance.
