YT4
Human
Robot
by Anthony Cherone
www.servomagazine.com/index.php?
/magazine/article/august2011_Cherone
Picture sitting in your home, driving a
human-like robot and interacting with
others in real time all from your
laptop. This robot can interact,
communicate, and utilize functional
hands, arms, and elbows. Now,
envision all the cool, cutting edge
applications and know that nothing is
impossible!
Physical Construction
Base Structure
The idea behind YT4 was to create a design that would
look good and serve the purpose of adding stability and a
multi-level structure strong enough to house the
components being used. Building off a tank tread kit from
Lynxmotion, a customized base was created making deck
layers out of .220” thick clear lexan panels custom-cut to
size and designed using a dremel. Aluminum U brackets
and T6 0.50” six inch round aluminum tubing with hubs
were fabricated and mounted to the panels to form the
support system under the multi-layer architecture as shown
in Figure 1. This was done by taking measurements and
drilling the mounting holes attaching the support tubes and
brackets to the lexan panels using hex screws to fasten
things in place. It was imperative to plan everything out first
and drill holes as necessary to mount switches, brackets, or
any other components used.
58 SERVO 08.2011
