neat fit on the motor’s shaft; drills
often go oversize. You can always
make the bore bigger but it’s tough
to make it smaller!
Next, I use a Style E 60º
thread tool bit (Figure 4) to make
a 0.080” deep groove, 0.090 in
from the edge of the wheel. This will
act as the retaining groove for the
The part is cut off with the
“rim”of the wheel 0.180” wide
(Figure 5). Repeat the steps above
for the number of wheels you
Life Cycle of a
Fighting Rob t
● by Mike Jeffries
Apollyon started as a concept for a simple but somewhat unique
12 lb wedge bot. The original design
started as a sketch in a notebook
during class. Later, it moved into 3D
in the CAD program Rhinoceros. I
used Rhinoceros as a three
dimensional sketching tool, playing
with drive systems and the details of
After this model was completed,
I moved the design into Solidworks.
This allowed me to finalize the
dimensions and prepare drawings
for the complicated portions of the
At this point, the parts for
the robot were ready to be
ordered. Most of the
components came from
the custom machining was
done by teamwhyachi.com.
Parts trickled in over
several weeks and the robot
began to take shape.
At this point, the build was
far enough along to begin
planning for its debut. During
this time, more work occurred
and the exterior structure of
the robot was completed.
There was still a lot of
wiring to be done, and the robot
eventually debuted at an event put
on by Carolina Combat Robots called
Wreck the Halls.
Rhinoceros model of Apollyon.
SERVO 10.2010 35