So I changed into Foamex board supported by PVC pipes which was much lighter and stronger. I built the body out of MDF board at first, but it proved to be too heavy. The 170-RPM Econ Gear Motor directly connected to sphere's shaft takes care of driving the wheel and controlling the speed.ĭesigning the body was relatively simple, as it was simply a rectangular board supporting the wheel frames. The HS-785HB servo with a built-in gearbox on the top controls the wheel’s direction by turning the motor's entire rectangular structure. I used a 60mm EVA-foam ball as wheels since they were light yet sturdy enough to support the vehicle. I designed the frame to house two separate motors, each controlling speed and direction, to steer and drive the wheels independently from others. Instead, I implemented a 4 Wheel Independent Steering/Driving (4WIS/D) system: a steering system for a four-wheeled vehicle that allows for separate speed and direction controls for each wheel.Īfter an initial sketch of the wheel's frame, I modeled the same design in Fusion 360. Unfortunately, I was a bit under-qualified to suspend wheels in mid-air with electromagnets, as many sci-fi movies suggested.
You can also check out this maker portfolio video I made for my college application or checkout the github repo containing the full code.Īs I mentioned above, ORBITRON is a vehicle with spherical wheels, hence the name 'ORB'itron. Then, I'll introduce you to the highlight: a clever algorithm I built to control Orbitron seamlessly. This article will showcase my vehicle prototype Orbitron along with a short story behind the building scene. Developing an intuitive control algorithm for 4WIS/D vehicle in Mathematica.Building a vehicle with spherical wheels that implement a 4 wheel independent steering/driving (4WIS/D) system using Arduino.Now, this project consisted of two major goals upon start: Being a heavy Sci-fi fan myself, I always wondered: how would those spherical wheels from Tron and I-Robot work in real life? And this simple thought began the 6-month journey of Project Orbitron.
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