Early Designs

An initial CAD design has been under early development for several months.

A render produced using the original CAD model of the Omni-Pi-tent design, the colours are simply present to make different parts more prominent.

This design is now in its second iteration, some minor changes are being made to the details seen in the first design but the key features of the actuators and sensors will not change, nor will the main external dimensions. This second CAD design is in the process of being printed and tested, small section by small section while electronic elements are breadboarded and then integrated into the design.

A render of the latest design for the docking port, and the omniwheel which is connected behind it.

A simulation model for use in V-REP has been produced and is under refinement as details of the hardware design are finalised. The latest iteration of this is shown below.

The visual layers for the latest iteration of the V-REP model of an Omni-Pi-tent module. The main actuators (omniwheels, 2 DoF hinge, docking ports) and sensors (infared receivers, beacons and proximity sensors) have been included. Docking is handled using dummies with a dynamic overlap constraint.