Many changes and features were added during this stage. 

CleanBot V3 is included for comparison

 

These are the following changes that we decided to make due to various problems and faults identified:

a) Platform at the back of the robot was removed.

Rationale: We decided to put the electronics either on the top of the robot or on the sides instead, where there were unutilized space. This allows us to further reduce the size of the robot despite the mistake of purchasing humongous stepper motors.

b) Added aluminum profile to the front of the structure.

Rationale: During motion testing, we realized that the top of the structure was vibrating violently due to the rotation of the stepper motors. Thereby, we had to add aluminum profiles to the front and tested the various positions to place the aluminum profile, without interfering with the swapping mechanism.

c) Added a bumper system to protect the wheels and the motors in the event of collision and failure of sensors to detect danger. 

Rationale: As this was highly recommended by both leading expert and founder of LionsBot, we decided to add this in to protect our wheels and motors

d) Removed the spring system which presses on the cloth on the floor and changed with a simpler system.

Rationale: Due to poor judgement and lack of experience, despite a plausible idea, we chose to buy wrong springs, which results in either the 3D structure continual snapping or the spring being deformed. This meant that the mechanism was not working as planned. Due to time constraints, we decided to fall back on a simple mechanism of the older idea: using a aluminum profile to press the cloth on the cloth. 

e) Added a primitive system to prevent the cloth from slipping as it was rolled. 

Rationale: As we were testing, we realised the cloth slipped as it was rolling. Drawing inspiration from toilet rollers/ cloth rollers in laboratories, we used an aluminium profile in an effort to replicate the design.

Figure: Showing the various stated mechanism added including c) Bumper system and e) system to prevent slipping of the cloth using aluminum profile.