Summary: Description of finished prototype.
Presenting ButlerBot...
The dual cup holder it cut out of three 1 in layers of Styrofoam. The inner circle can hold an average size cup and is 2 in deep. The outer circle, meant for bowls is 1 in.
The body is made out of foam core board and cardboard tubes, which were hot glued together. The racks, and gears were all laser cut out of acrylic based on out SolidWorks models.
ButlerBot climbs stairs using four legs, raised and lowered by a rack and pinion. The front and rear legs are paired and controlled by a single 12V stepper motor each.
The outer gears that pair with the racks are driven internally by two additional gears to join the motors to the shaft.
Butlerbot is front wheel drive and steers by commanding the left and right motors to operate in opposite directions. The 3V motors are set up with a gearbox providing a ratio of 114:1.
It is equipped with 8 AA batteries (providing 12V), but during the presentation we will be using a 12V power adapter to avoid draining batteries, and to provide a bit more current.
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