Pishnam Mechanic

To separate the victims , we used a  XL-320  and a part that we printed with 3D-Printer  , we had a lots of other options to separate the victims but this was the best option in our idea. When the robot catch's the victims it detects that the victim is alive or dead using its grippers , it tests the conductivity of the victims and detects their types.

As u can see in the picture our wheels aren't just one , their two wheels connected to each other so our robot will have more friction on the ramps  We made a lots of wheels with different designs and at the end we made this one that is the best design in our opinion. This wheel that you can see is designed in solidworks application to find out more about it you can checkout our solidworks blog .

As we said , we use Solidworks application to design our parts, then we print them using the 3D printer. there's a lots of 3d printers , we used Flashforge Dreamer 3D printer using PLA (Polylactic Acid) filament , To print using this printer you should install Flashprint application and open your file with STL format in the application then you should select your setting and upload your file to the 3D Printer. We printed half of our robot with the 3Dprinter like our wheels , box , arm , etc. and the other half of the robot (the body) is plexiglass (Poly methyl methacrylate), we used plexiglass instead of 3d printing with PLA filament because its more accurate.

There's a lots of software for 3D Designing such as Solidworks , Autocad , Matlab , etc. We use solidwork application to design our robot. Solidworks is made by Dassault systemes. and it has three main sections : Part , Assembly and  Drawing. at first we design our robot parts in the part section   then we put all of our parts in assembly section and we build the robot.       

We used four L1990 motor for our four wheels in our robot to move , you may ask your self why didn't we used different models like Namiki motor , HV155 , etc , because they aren't as powerful as L1990 motor. L1990 is a dc motor with gearbox and Asar Hall encoder , this type of encoder works with magnetic force.  

 We used three Xl-320 servo motors in our robot , two for our grippers and one for our injured separator, we could use a lots of different models of servo motors that were even better, but they were much more expensive and they weren't in Iran and buying them was hard for us. this model has six pins: two VDD , two GND and two data pins, it has two pins from each of them because all Dynamixel models can connect to each other and create a servo motor chains, this can be doable with Roboplus application.

  We used Ax-12 servo motor to lift up our arm and box because it will give us the power that we need to lift up and down our arm and box. It has six pins , two GND , two VDD and two data , it has two pins of each of them because this type of servo motors can connect to each other to create servomotor chains, this can be doable with Roboplus application. also its possible to read their current position , temperature , speed , torque , etc.