Duke Combat Robotics

Jan 2021 - April 2023

Abstract

As one of the inaugural members of Duke Combat Robotics Club, I participated in the antweight division, designing a self-orientating, 3-wheel omnidirectional robot. In this design, I incorporated PID controllers for an IMU for absolute direction as well as mechanical design for a robust and easily modular 3D-printed frame.

Goals

Design a robust frame to hold electronics.
Design a weapon capable of attacking on all fronts.
Utilize an IMU for absolute directional movement.

Targets

Improve wire management with 3D-printed routing clips.
Improve wheel design for better traction.
Look into stronger materials and design to sustain damage.

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Project Features

Solidworks

PID Tuning

Arduino

PCB design and wiring

Water Jet

3D-printing

Chassis Design

There were several iterations of chassis design along with motor placement. In the end, a plastic guard went around the omniwheels for extra protection and the top chassis was covered with an aluminum plate. The full-body spinner was made out of spring steel and bent to cover the entire robot. All metal parts were cut from a Protomax water jet and the remaining components were 3D-printed on an FDM Ultimaker 3S.

Electrical Harness

Wiring the robot proved to be a very difficult task with both the size constraints of the chassis and the sheer amount of components needed to fit in the robot. In order to reduce complexity, I first cut specific wire lengths to the desired components but went on to design a custom PCB that could house components and get rid of wires altogether.