Attractnid

Bot Photo

About

What

Attractnid is a four legged robot which can scale metal surfaces. It relies on magnets to attach itself to surfaces and looks like a spider (despite only having four legs).

How

The robot uses feet with permanent magnetics to attach to surfaces. Servos on the top of the feet rotate a permanent magnet to cancel the magnetic fields to detach the leg, allowing another set of servos to rotate the legs.
An accelerometer keeps track of the orientation of the robot, allowing the robot to move along any specified angle.

System

System Diagram

Leg photo

Mechanical

Our mechanical system consists of magnetic switches and sliding legs controlled by servos.

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Leg photo

Electrical

Our electrical system consists of an Arduino Mega, an accelerometer, and a bluetooth chip, and is powered by a battery.

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Leg photo

Software/Firmware

Our software system is written in C++, and uses a control robot to walk the robot along a desired heading.

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Process

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Sprint 1: Prototype Walking Motion

  • Cardboard Sketch Model
  • 3D Printed Prototype
  • Simple Firmware
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Sprint 2: Magnets

  • Magnet design approach
  • Preliminary magnet turning mechanism
  • Accelerometer testing
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Sprint 3: MVP

  • Integration of Sprint 2 findings
  • Leg interation
  • Refining control code
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Sprint 4: Polish

  • Bluetooth
  • Battery power
  • Improved user interface
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Budget

Item Quantity Total Cost Notes
10mm Square Permanent Magnets 30 23.97
Arduino Mega 1 28
Accelerometer 1 15
Linear Rails 8 25 You Do It Electronics
Servos 1 11 Initial replacement servos
Rubber Feet 24 15 Harveys Hardware
High Torque Servos 8 40 Final servos
Steel Stock 2 14.70
Batteries 2 27
Buck Converter 1 12
ProtoShield 1 7
Bluetooth Module 1 12 Borrowed
PLA 1 KG 15 Shop provided
Constant Force Springs 6 18
Sprints, Bolts, Other Hardware - 35 Harveys Hardware

Total: $271.67

Team

Maeve Stites

Image

they/them

Jonathan Montague

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he/him

Emma Mack

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she/her

Jeremy Skoler

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he/him