Finally, after overcoming all the difficulties, our robot trolley can finally operate normally. But we also need to optimize its program and behavior in complex situations. Adjust its speed change trend when facing different distances to prevent safety risks. At the same time, the steering behavior is adjusted when facing, for example, fast steering or when there are obstacles on…Read More This is a problem that has troubled us for a long time. How do we transmit the power of the motor to the tires to drive the whole thing to move? Because our prototype is overall small and the motor is large, we cannot directly connect the motor parallel to the tire and connect them together through only one gear.…Read More We have customized many types of brackets to fit our different parts. Now when it comes to assembling them all together, we find that there are still many shortcomings in our design, such as mismatched sizes and rotating parts being stuck by other brackets. Wait, all kinds of troubles appear one after another. We need to repeatedly remeasure and modify…Read More After carefully disassembling and studying the steering system we began building the steering system ourselves. The difficulties here are as follows. First, what we have to solve is how to make the two wheels rotate synchronously. Our plan is to use both ends of a horizontal column to make concave grooves with protrusions at the upper and lower ends corresponding…Read More The lower chassis was our main focus and for this we started with a sketch design. Each part is accurately measured and the slots are customized according to their shape to ensure that each part can be perfectly placed into the groove and fixed. Additionally, we also need to consider how the lower chassis connects to the wheels. For this…Read More We taped a wire to avoid the risk of short circuit. The main purpose of the upper chassis is to support the shopping basket. Our initial plan was to design a few hooks to pass through the shopping basket and use latches to secure its connection to the shopping basket. Due to the printing area of the printer, our site…Read More Despite searching online and researching many types of steering systems, we weren’t sure which one would suit us better. And it’s hard to tell from the video exactly how the steering system works. For this purpose we purchased an RC model car for research. We disassembled all the parts and observed how it was constructed. Not only that, we also…Read More After verifying the usability of each part individually, we connected them together for preliminary testing. It mainly tests whether the 3s Lipo battery can power the high-voltage motor and the Arduino motherboard rated 5V at the same time, and whether the Arduino motherboard can correctly calculate the information collected by the sensor and pass the resulting instructions to the execution…Read More After the Bluetooth solution failed, we enabled an alternative – ultrasonic sensors. With previous experience, the testing process went smoothly this time, and we initially completed the wiring and coding. Initially we tested its two basic elements, distance and accuracy. After several rounds of testing, the distance of the ultrasonic sensor has met our requirements, but the accuracy barely meets…Read More We started by coding and testing the Bluetooth part. Although we successfully enabled the response function of Bluetooth, for unknown reasons, it often failed to respond to our commands. According to the method we studied before, the ranging method of Bluetooth components is distance = response time/2. But we soon realized a more serious problem. Even if we try to…Read MoreTroll-E Timeline
Development
Troll-E Timeline
2023