Ive been wanting to build a Hanging Pendulum robot for the last 30 years
Technology (and inexpensive consumer parts) finally conspired to let me try and realize my dream.
Inexpensive 500 watt 48 volt 26" Chinese brushless bicycle wheels form the basis of my bot.
And the chassis is constructed from T6 aluminum plate and extrusions with stainless steel side forks and hardware.
The 2 intermediate plates are 3/16" black ABS.
The Bottom shelf is for 4 12 volt wheel chair batteries that total 92 lbs in weight and wil be series wired for 48 volts.
The intermediate bay will hold 2 Kelley reversible 48 volt 500 watt bicycle wheel controllers, a DC to DC 5 volt and 12 volt converter, an APM (later Pixhawk), a receiver, Telemetry and some assorted interface electronics for the Bicycle wheels hall devices and throttle.
The top shelf will support my HP Envy Laptop for Kinect and Laser Scanner interpretation.
A brushless gimbal stabilizing (and scannable) platform will be on top with a Kinect, laser scanner and FPV camera.
As it is, the chassis has worked out very well so far, I didn't manage to build myself into any corners I couldn't get out of and its is as robust as it looks.
Fabrication took more work than I had initially envisaged and most of the layout was simple manual markup.
As it is now, the wheels and bare chassis weighs 63.0 pounds and the battery pack will weigh 92 lb.
There should be about an additional 20 pounds of stuff in the first pass (Vision system but no stabilizers or arms), so it will weigh about 175 pounds.
This is not a light robot and you definitely would not want to get hit by it.
The 1000 watts worth of motors are definitely overkill, but I wanted the extra torque for operating at low speeds and the wheels I have chosen are very efficient when operating in the 20 to 50 percent power range.
Please feel free to comment and as I continue to make this operational I will post more about this either here or on subsequent Blogs.