Photo gallery

An collection of early photographs of test parts and completed parts, from the initial stages of the project. For mroe recent imagery see the thesis and associated videos.

The first prototype module aligning the compass vector whilst driving and performing obstacle avoidance with the proximity sensing functions of the IR becaons on the ports.

Still frame from a video of the first module driving across carpet

Assembling the core of the first module, before fitting the port faces

A 3D printed omniwheel, one of four fitted to a complete module. Rollers are visible at the edge, and an internal gear in the centre is driven by a small gear attached to a DC motor.

An early prototype for the docking hooks within a docking port, seen from the outer side.

The second iteration of the docking hooks (yellow), seen from behind, the orange centre contains a mounting (obscured in this view) for docking sensors.

A single 3D printed docking port unit, note the omniwheel at the bottom, on a finished robot this would be towards the centre of the robot. The spikes at the top slot into the corresponding pits of another port, the orange hooks rotate to lock the ports together.

Two test port faces interlocking, to the right/top an orange backing part holds a set of port hooks and spikes (in pink on the right). To the left/bottom an orange set of spikes is seen, with an orange hook set centred within it, the gear teeth visible on the set of hooks allow it to be driven by the motor. The green wires at the right connect to microswitches inside the port.