B TB T

164

164

Caterpillar – getting to 30SAB -SAB - - AGE - AGE

CaterpillarClaw Legs

Power Take-OffChains

Claw Open: torsion springsClaw Close: pancake cylinder pulls cable

Roller Bearings(3 iterations)

Claw Geometry(2 iterations)

Claw Pull(2 iterations)

Leg Base(3 iterations)

Leg 0 Cylinder(3 iterations)

Leg 1 Cylinder(4 iterations)

Leg 2 Spring(∞ iterations)

Anti-Backdrive Arm(2 iterations)

Leg 0-1 Down/Up: cylindersLeg 2 Down: gravityLeg 2 Up: pyramid

Power Take-OffCIM+Toughbox+15T24T+Live Axle+9T24T

Caterpillar Control

Mounted in front of each Leg…Senses the horizontal bar…Triggers Claw Open, Leg Up

Prox SensorsProx SensorsProx Sensors

Mounted in front of each Leg…Senses if Leg is down…Triggers next state

Limit SwitchesLimit SwitchesLimit Switches

The Climb ProcessManual StartDrive Up Close Claw 0 Drive Both (always) Close Claw 1 + Skids Out

Automatic SequenceTrip Prox 0 & Switch 2 Close Claw 2 Open Claw 0 Raise Leg 0Trip Prox 1 Lower Leg 0 Close Claw 0 Trip Switch 0 Open Claw 1 Raise Leg 1Trip Prox 2 Lower Leg 1 Close Claw 2 Trip Switch 1 Open Claw 2

Both drivers have positive control…Either stops, climb freezes…Base driver locks swerve modules

Repeat!

Induction Proximity Sensors (~7 iterations)

Limit Switches (~5 iterations)

Safety!

SkidsSkids

Front V

CaterpillarAlignment

Currently laser-cut polypropylene sheet…Centers on pipe as swerve drives up

Manually-milled acetal tubes…Pneumatic cylinders inside…Drive out rods to engage horizontals

Leg VsLeg Vs

Laser-cut polypropylene…Centers Legs 0 & 1 in-climb

Composite core polyurethane…Molded “bowties” to center

WheelsWheelsWheels

Skids (2 iterations)

Wheels (~9 iterations)

Leg Vs (NEW - 2 iterations)

Front V (5 iterations)