Summary for Building Strategies

In chapter 6, we are introduced to various fundamental techniques in building the robot. One of them is the stud-less built technique focusing on parallel linkage. There are 4 pieces of Lego that that can be used in parallel linkage. The simplest one is a straight beam that allows for the connection of two other beams in parallel. The second one is the L-shaped beam that can provide a strong and rigid built of robot. The third beam actually consists of 5 small beams connected together, which is be used to allow for flexible connection. The fourth beam is actually very similar to beam A, as it allows for 2 beams to be connected in parallel. However, it is not as versatile as beam A since it allows only 2 beams to be connected together while beam A allows for multiple beams to be connected together. The aim for having all these technique is to construct a modular structure, where beams can be easily taken apart while maintaining a rigid structure.

In addition, we should also take notice on the positioning of the beams and gears. For instance, we should always keep the wheels, or all forms of gears, as close to the beams as possible. This will keep the built as pact as possible and reduce the “spread” of the materials, which will reduce the friction on contact with the ground, hence, allowing for faster acceleration for the robot. This same concept is applied when positioning the NXT control device. If placed properly on the beam structure, the mass will be situated right at the center of the robot and reduces the friction of the wheels in contact with the ground. To further illustrate this idea, we will discuss the effect of weight on the caster wheel. The caster wheel is a wheel placed in the rear of the robot to form a triangular shape of wheel placement of the robot. Since it is not directly connected to the motor, it does not generate its own movement. If too much weight is placed on it, then the robot might not even be able to move.