Initial Phase
Starting off with researching on three main sections: Motor, Arduino and Sensors. We then decided to purchase the relevant parts. Furthermore, we have been trying out the bluetooth technology before deciding on using ultrasonic and ToF sensors to detect the distance between Troll-E and the consumers.
Here is a sketch of how we hope the base could hold the components such as Arduino, motor and servo battery.
A brief overview of the base and how it connects to the other parts
We also had to design a chassis such that we could connect the wheels to the trolley. We finalised our idea by using belt and pulley system, where we designed a gear on the drive shaft and customised gear for the motor. While the motor turns, the wheel will also rotate accordingly.
Belt and pulley system
Furthermore, we have designed multiple steering systems. Initially, the servo motor we used was too small and did not have enough power to turn the front wheels. For this purpose we re-modified the steering system and replaced it with a high-torque servo motor.
Draft: Initial Design
Final Steering System
Final Product
A video of how Troll-E moves on a relatively smooth surface after correcting our codes.
And a front-side view of Troll-E!
