2.007 Robot

This was my entry in MIT's 2.007 robot competition. It features a "pseudo-holonomic" drive train, that allows independent manipulation of the robot's 3 dofs through X,Y, and Theta drive modes. Mounted to the base is a tape measure-like forklift similar to S.T.E.M. mechanisms used in aerospace. This mechanism was used to score points in the competition. The bulk of the robot was constructed using waterjetted ABS. Not shown are the timing belts and timing belt pulleys connecting the wheel mounts and the spring steel tape/forklift.