Mechanics of SICO T7

Mechanics of SICO T7

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There are generally 2 mechanisms in SICO T7 (there are two motors). There is the walking mechanism and the rack.

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The Rack

Mechanics of SICO T7

The Walking Mechanism

The walking mechanism is powered by a motor in the back of the robot. It is run through a worm gear and a series of 24t gears and 9t gears that help take the power where it needs to go. The gears are seen in figure 1.1. Take a look at the liftarms that provide the rotary motion in Figure 1.2. There is touch sensor that counts clicks to see how far the leg has advanced (figure 1.3). You can see SICO T7 up one different legs in Figure 1.4 and 1.5.

Figure 1.1: The gears

Figure 1.2: The liftarms

Figure 1.3: The touch sensor

Figure 1.4: Up on the right leg

Figure 1.5: Up on the left leg

The rack is used to move the ballast back and forth to change the COG. The rack, touch sensor, and tiles can cleary be seen in figure 2.1. This is where the "head" of SICO T7 is situated. You can see in figures 2.2 and 2.3 the rack moved the head.

Figure 2.1: The rack

Figure 2.2: The rack

Figure 2.3: The rack