Antweight Combat Robot
Developed for the Combat Robotics Group (CRoG), this project involved designing and fabricating a 1 lb weight-class combat robot engineered for competitive matches. I chose to implement a unique "shuffler" drive mechanism, which leveraged competition weight bonuses to increase the allowable mass of the robot. By utilizing this weight advantage, I was able to maximize the mass of the primary weapon: a full-body horizontal spinner that rotates around the entire chassis. This design strategy prioritized rotational inertia, allowing the weapon to store and maintain significantly more kinetic energy than traditional drive configurations. The project served as an exercise in creative problem-solving and mechanical optimization, balancing the mechanical complexity of the walking drive system with the structural demands of a high-momentum weapon
For the mechanical architecture of this combat robot, I implemented a shuffler drive system to capitalize on weight class regulations. Because the full-body spinner design provides 360 degree coverage, high-speed maneuverability was less critical than kinetic potential. By utilizing the shuffler mechanism, I gained an additional 0.25 lbs of mass, which was reallocated entirely to the weapon system to maximize impact force.
The weapon system utilizes a 1:3 gear ratio between the drive motor and the outer rim. This ratio was selected to optimize the rim's rotational velocity while maintaining a compact internal footprint for the motor and electronics. To handle the significant centrifugal forces and impact stresses, the weapon is secured via a precise groove. It is constrained both laterally and vertically by a series of bearings protruding from the main chassis, ensuring the weapon remains stable and centered during its high-speed rotations.
The movement system consists of three shuffle feet driven by dual camshafts with lobes offset by 120 degrees. This specific timing ensures constant ground contact and smooth weight transfer throughout the walking cycle. To address the high probability of being overturned in combat, I engineered the shuffle pods to be fully invertible. The feet protrude through both the top and bottom of the chassis covers, allowing the robot to maintain full traction and functionality regardless of its orientation. This design choice eliminates the need for an active self-righting mechanism, reducing mechanical complexity while ensuring the robot remains a persistent threat throughout the match.
This project is currently in the late-stage design and simulation phase, with physical fabrication scheduled to begin in the coming months. The next phase of development will focus on the printing of the cam system and the assembly of the full-body weapon rim. Once the prototype is built, I will conduct a series of stress tests to evaluate the durability of the shuffler drive and the stability of the weapon bearings under high-impact conditions. I plan to document the iterative changes made during the testing phase and will continue to update this project history through the robot's final competition debut.