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TrotBot climbing 1/3-scale stairs with a lower center of gravity

6/17/2017

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Recently I’ve been working on getting TrotBot to climb 1/3-scale stairs. The first video below shows TrotBot climbing stairs  at the standard 32 degree angle of life-size stairs, both with and without wheelie bars.  The second video shows TrotBot attempting steeper 38 degree angle stairs without wheelie bars, and required a bit of expert driving to avoid flipping backwards!
​In this process, I found that TrotBot’s center of gravity needed to be lowered to prevent it from flipping backwards, so I lowered the battery box.  

In general, vehicles handle better with a lower center of gravity, so I should have mounted the battery box lower in my original instructions.  

​Instructions to modify TrotBot to lower its battery box: ​
These instructions require the vertically oriented 7 hole beams that mount the battery box to the frame be replaced by 11 hole beams. Using 11 hole beams allows the battery box to be mounted a half dozen holes lower than it would be otherwise.

Start by removing the battery box and vertical 7 hole beams from the TrotBot frame, and get four 11 hole beams to replace the 7 hole beams.   NOTE:  it's easier to pull the two sides of TrotBot apart incrementally while rotating each metal support rod between pulls so that the LEGO beams can slide along the rods.
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​
The following photo shows the attachment of two 11 hole beams to the battery box along with the 9 hole beams that attaches to them to the metal support rods to form the hypotenuse of the frame triangle. The 9 hole beams that are used as the hypotenuse will remain on the metal support rods and are only in the pictures to provide context.
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Attach the 11 and 9 hole beams together to form the basis for the frame triangle. The 9 hole beams must be mounted on the 5th hole from the top of the 11 hole beam. 
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Mount these parts onto the battery box. Notice that the 9 hole beams are mounted on the outside of the 11 hole beams, that they are facing away ​from the battery box. 
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Repeat this process for the other side of the battery box.
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Next mount this structure back into the TrotBot frame.   
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And that's it, TrotBot with a lowered center of gravity - time to work on TrotBot's next climbing challenge:
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  • Home
  • Walker ABC's
  • Build Instructions
    • TrotBot Builds >
      • TrotBot Linkage Plans
      • TrotBot's Legs Simplified
      • Quadruped TrotBot
      • Hexapod TrotBot
      • TrotBot
      • TrotBot, Ver 3
      • Mindstorms TrotBot, Ver 3
      • Wooden TrotBots by Automata Korea Design
      • 3D Printed TrotBot by Scott Anderson
      • Mindstorms TrotBot, Ver 2
      • Mindstorms TrotBot
      • Large-Scale TrotBot
    • Strider Builds >
      • Strider Linkage Plans
      • Strider Ver 3's Legs
      • Strider Ver 3's Frame
      • Mindstorms Strider Ver 3 Mod
      • Strider
      • Strider's Legs Simplified (ver 2's)
      • RC Strider
    • Mechanical Spider >
      • Klann Mechanical Spider - Climbing Mod
      • Klann's Spider, EV3 Long Legs
      • Klann High-Step Mod
      • Klann's Spider, Ver 2
      • Mindstorms Klann
      • Klann's Spider, Ver 1
      • Klann's Linkage Plans
    • Strandbeest
    • LEGO Spot Micro
    • Linkage Warm Ups >
      • Lever Paradox
      • LEGO Biters
      • LEGO Punchers (4 bar linkage warm-up)
      • LEGO Hopping Robot
    • Hiro Labo
    • Whegs (wheel-legs)
  • Customize
    • Strider Linkage Optimizer
    • Klann Linkage Optimizer
    • Strandbeest Optimizer for LEGO
    • TrotBot Optimizer
    • 4 Bar Linkage Optimizer
    • 4 Bar Walking Linkage
    • 6 Bar Walking Linkage
  • Linkage Simulation
    • Python Linkage Simulator
    • Scratch Linkage Simulator
  • Blog