Chassis Design

An Overview
What can be used to build your robot?

• Read the Robot Game Rules! (Page 19)

• Everything you compete with must be made of
LEGO® elements in original factory condition,
except LEGO® string and tubing, which you may cut
to length.
• Exception: You can reference a paper list to keep
track of programs and a bin to carry your robot.
• There are no restrictions on the quantities or
sources of non‐electric LEGO® elements, except
that factory‐made wind‐up/pull‐back “motors” are
not allowed. Pneumatic elements are allowed.
What can be used to build your robot?

• On the robot, marker may be used for owner

identification in hidden areas only.
• Paint, tape, glue, oil, dry lubrication, etc. are not
allowed.
• Stickers are not allowed except LEGO® stickers
applied per LEGO® instructions.
What can be used to build your robot?

• The electric elements used must be the LEGO® MINDSTORMS® type,

and the total number of electric elements you may use in one
match is limited as follows:
• One Controller (RCX, NXT, or EV3)
• Four Motors - Must be MINDSTORMS® motors
• A fifth motor is not permitted in the competition area (you may
have unlimited spare motors at the pit area)
• Unlimited Sensors
• Must be Touch, Light, Color, Rotation, Ultrasonic, or Gyro sensor
• Must be LEGO® manufactured MINDSTORM® sensors
Engineering Design Process
Ask
Ask
• What is my design supposed
to do? Improve Imagine
• How will I test my design?
• How will I know it is doing
what I want?
• What could keep me from
making it do that? Create Plan
Engineering Design Process
Ask
Imagine
• Apply knowledge and
creativity to brainstorm ideas. Improve Imagine
• Select one to try.
Plan
• Plan idea with sketches,
diagrams, drawings and notes.
Create Plan
• Plan materials and resources.
Engineering Design Process
Ask
Create
• Create a prototype.
• Test the prototype and
Improve Imagine
record the results.

Create Plan
Design Process
Ask
Improve
• Analyze design and test
results. Improve Imagine
• What change would make the
biggest impact on meeting
the goal?
• Apply knowledge and
creativity to brainstorm Create Plan
ideas.
Common Attributes of FLL® Robots

• Two motors are used for the drive wheels, one on each side for
turning
• The third and fourth motors for attachments such as a vertical lift,
arm mechanism, or attachments
• Multiple attachments for different missions
• Robots must fit inside the base, including 12” height requirement

Attachments are removable – Mechanisms are not

FLL® Robot Design Rubrics
FLL® Robot Design Rubrics

http://www.firstlegoleague.org/event/judging
Chassis Durability

Evidence of structural integrity; ability to withstand rigors of

competition
Accomplished: Rare faults/Repairs
Exemplary: Sound Construction; No Repairs

• Things to ask about your robot:

• Does my robot stay together during routine handling?
• Does my robot have excessive flex when moving?
• Does my robot wheels remain in contact with the mat?
Chassis Mechanical Efficiency

Economic use of parts and time; easy to repair and modify

Accomplished: Appropriate use of parts and time to modify/repair
Exemplary: Streamlined Use of Parts and time to repair/modify

• Can the batteries be change/charged easily?

• Can I see the display screen and push the buttons?
• Can I plug/unplug wires easily?
• Are the wires in the way?
• Can attachments be changed easily?
• How long does it take to set up my robot in base?
Chassis Mechanical Efficiency

• Robot Setup – Know Where to Start!

• The base square is big, where does the robot go?
• When positioning the robot, the angle the robot is heading is very
important. If the heading is off by 1 degree, four feet from the
start, the robot will be off course by over 1 ½ inches
• Even robots that self correct position need to have a consistent
starting point
• Proper starting position includes powered arms and attachments
• Alignment tools (jigs) help if built properly
Chassis Mechanization

Ability of robot mechanisms to move or act with appropriate speed,

strength and accuracy for intended tasks (propulsion and execution)
Accomplished: Appropriate balance of speed, strength, and
accuracy on most tasks.
Exemplary: Appropriate Balance of Speed and Strength on Every
Task
Chassis Mechanization

• Does the robot have the right wheels?

• Big wheels are faster, can move over obstacles, but can be less
accurate.
• Wider tires have more friction than skinny tires making turning
less repeatable
• Where is the Center of Gravity (CG) of the robot?
• Is the robot top heavy?
• How will the robot’s CG change when it picks up loads?
• Do the robot avoid tipping on slopes, sharp turns, stops, or in
collisions
• What happens when the robot backs up?
Chassis Basics
Chassis styles

• 2 wheels and skid(s) - usually fine if no ramps to climb

• 2 wheels and caster wheel (3-point design) - caster wheel can
change robot course (supermarket carts)
• 2 wheels and ball (3-point design)
• 4 wheels (4-point design) - often one pair is without tires to slide
while pivoting
• 6 wheels - Larger than most FLL robots, smaller base this season
• Treads - stable, can be hard to predict turns
• Exotics – walking, time consuming to build, inconsistent movement
Chassis mobility

• Size of chassis – it has to navigate around the obstacles on robot

field
• A bigger chassis require more motor power draining batteries
quicker
• Remember, after the robot is built, you still need to get to the
battery compartment or charging plug on the brick
• Chassis will need places for attachments to attach
• Wires from brick to motors/sensors should be tucked away so they
don’t catch on anything
Chassis mobility

• Will gears help?

• Little Gear on motor and big gear on attachment or wheel
• Slower
• More Precise
• More Torque
• Big gear on motor and little gear on attachment or wheel
• Faster
• Less Precise
• Less Torque
Wheels, Tracks and Axle tips

• Tracks
• Low Friction/High Slippage
• Motion and Turns not repeatable
• Large wheels go further per revolution
• Friction varies with different wheels
• Consider how they pivot turn and go straight
• Wheel Axle Support
• More support, less wiggle/sag
• Support from both sides is best
Wheel support
Navigation
Building to go straight

• Straight motion
• Wheel balance
• Wheel alignment
Robot placement

• Jigs / Alignment tools

• Align with solid edges of robot, not by sight
• Provide three points of contact to get both the angle and
front/back positions correct
• Jig / Alignment tool can't interfere with robot as it begins to
move
• Table walls may vary. South edge of mat is always against the
south wall, but east and west are center, and north falls
wherever.
Three types of turns

• The robot will turn when one wheel moves at a different speed
from the other
• The greater the difference in wheel speeds, the tighter the turn

• Pinpoint - robot spins around a point (tank turn)

• Pivot - robot turns about a fixed wheel
• Curved - robot turns about an arc
Pivot turn

BREAK
Pivot turn

BREAK
Pinpoint turn
Curved turn
Steering

• Consistent steering
• Remove tires from rims
• Reduce friction
• Brake stationary wheel on
pivot turns
Navigation methods

• Wall following
• Horizontal guide wheels, approach wall at shallow angle
• Line following
• Use the light generated by the light sensor itself
• For greatest accuracy, box light sensors to eliminate (as much as possible) ambient
light
• Calibration can help to reduce the effect of changes in external lighting, but is hard
to eliminate
• Light sensors tend to hunt – pivoting on one wheel (instead of two) tends to be less
jittery and make faster progress
• Take advantage of knowing the proper course for the mission – not a general –
purpose line follower
Online

• Lego Educational: http://legoeducation.us/

Go to the "SHOP" menu and then select "LEGO Spare Parts and Accessories”
• BrickLink: http://www.bricklink.com
• Brick Owl: http://www.brickowl.com/
• Gears: http://gears.sariel.pl/
• LEGO® Digital Designer: http://ldd.lego.com/en-us/
CAD for LEGOs®
• Techbrick: http://www.techbrick.com/
• BrickSet: http://brickset.com/browse