Mobility system cutaway

Here is a cutaway of the robot's mobility system. Here we can see the two motors powering the tread module on the left (as well as one of the motors powering the right-side module). The gearboxes are of a two stage design, meaning that there are two gear reductions in between the input and output shafts. Also note the encoder (the black cylinder with two pegs sticking out) on the side of the rightmost module. This device accurately measures the RPM of a spinning shaft, allowing the robot to move and turn very precisely. 

Aesthetic redesign

I have decided to change the design of the robot's body for mostly aesthetic reasons. The new body design is sleeker and now fits the profile of the tread. The new body is also symmetric on both the x and y axis which makes it simpler to work with in the computer.

1st iteration of the main body frame and sensor turret

I have completed two components of the robot this week. The first is the outside shell of the robot's main body. This part, shown above in between the two treads, serves to house the robots electronics as well as the motors that power the treads. The second part is the sensor turret (pictured on top of the robot) that will contain the robot's optical sensors. Both parts right now are just empty frames, I plan to add all of the electronics these components house in the future.

Complete tread module assembly

Here is the 3D model of the complete tread module assembly. There will be one of each on each side of the robot. The module consists of a 6 inch diameter drive wheel in the center that is driven by a motor through a gearbox. The drive wheel drives the rubber tread that wraps around the module. On the bottom of the module are 8 idlers (unpowered wheels) that act as the robot's suspension system. This system is designed to allow the robot to efficiently maneuver through rough terrain and drive over small obstacles.