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I will be going over our Solid Works model with you today. To start we’ll be looking at the drive train of the model and then we’ll move to the chassis and then we’ll finish with the support system and to give you guys in a more in-depth view also we’ll be looking at an exploded view of the model. This will allow you to see certain areas much better than you can see in the normal view. So we were tasked by Dr. Satici to build an acrobot. An acrobat is used in robotics testing and is essentially two pendulums attached to each other and the second pendulum is driven. So let’s look at the Solid Works model.
So to start off with – our power source. And our power is coming from this maxwell motor and this maxwell motor is attached by this with this coupler to a drive shaft that’s running inside of this tube that’s shown. You’ll get a better look at the shaft when we go take a look at the exploded view. So the driven shaft here runs all the way through to this pulley and then this pulley here goes up and is attached to this pulley here, which powers the second driven shaft. The second driven shaft powers this pendulum leg here and allows it to spin. So this will cause the inertia for the project causing the pendulums to eventually stand up like this. So that is the basis of the drive system. As for the chassis you can see we have this second pendulum like here, which is a single plate, this allows for simplicity. So then we have here which is our first pendulum leg and it is a two plate leg. This allows for the first pendulum leg to swing through it without any interference and allows for a simple motion. So then for supporting these two legs on each side is a shaft and two pillow block bearings. These pillow block bearings are key and that they allow the shaft to be supported while also allowing it to freely rotate.
So then let’s take a look at the support system. The support system, it’s a fairly simple design of two by twos that run along the bottom and then go up and create a trident type shape until you reach these platforms that support the pillow block bearings. This is key in that it allows the acrobot to be a separate entity from anything else. It does not need to be mounted to a table or anything like that. It’s just mounted to where it is and that makes it very portable and easily moved and the setup and assembly is also very simple as the parts will always be there.
So now let’s look at an exploded view of this acrobot. So the main view that is really important here is that you can really see how the motor is connected to the driven shaft and how that shaft runs inside two pillow block bearings. So you have the motor, the motor coupler, and then you have this driven shaft here that runs all the way through to here. And you have the tube that it’s running inside of.
So this should help see or visualize how we are powering these pulleys. As for the rest of it, most of it is fairly similar and visible in the normal view.
If you have any other questions I encourage you to check out the rest of our website and other documents that are made available. Appreciate your time. Thank you.