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Mechanics 2026

Mechanical Design — 2026

The 2026 cycle prioritized development of the omnidirectional base while keeping changes to the upper body minimal. Effort focused on mobility, structural improvements, and peripheral integration rather than a full redesign.

Scope of this page

This page covers mechanical work completed or in progress through May 2026. Software, electrical, and control system details are documented separately.

Headlines

  • DashGo Structure

    Minimal changes from 2025. Height increase and two additional support points improved reach versatility. Acrylic cover added for aesthetics. New speaker and display integrated. Support-point wheels replaced with quieter alternatives after RoboCup 2025.

  • Omnidirectional base

    Structure finalized. Initial URDF ready for testing. Supports 80 kg payload. Targeting functional state for RoboCup 2026.

  • Gripper

    DC motor actuator in development to replace servo. New PCB designed for size reduction. FSR sensor issues under investigation.

Breakdown by area

DashGo Structure

The robot's upper structure retained its 2025 design with targeted refinements:

• Height increase — Extended vertical reach to access elevated surfaces.

• Additional support points — Two extra support points added, improving stability during manipulation tasks across varied workspace heights.

• Acrylic cover — Introduced for aesthetic purposes (paint finish). However, the material proved fragile, difficult to transport, and hard to bend precisely—mirroring the same issues previously encountered with aluminum.

• Peripheral mounting — Speaker and display housings integrated into the body.

• Quieter wheels — Support-point casters replaced with low-noise alternatives, addressing feedback from RoboCup 2025.

Limitations

• Floor-level manipulation — The robot still cannot reach the floor plane for ground-level tasks. This remains a significant constraint for certain manipulation scenarios.

Omnidirectional base

Development of the omni base reached structural completion by late May 2026:

• Structure finalized — Rigid frame assembled and validated.

• Load capacity — Tested and confirmed to support 80 kg.

• Initial URDF — Created for simulation and control testing.

Pending improvements

• Portability — The structure is less portable than originally intended; redesign needed for easier transport and assembly.

• PLA gears — Current gears break under load. Replacement with Ultracur3D® RG 1100 resin parts is in progress.

• Gearbox mounting — Gearboxes need easier replacement mechanisms and improved support points to reduce maintenance time.

Gripper

Active development is underway to improve grasp reliability:

• DC motor actuator — Replacing the current servo motor with a DC motor to provide consistent gripping force, particularly for slippery objects or suboptimal grasp positions.

• New PCB — A redesigned PCB has been developed to reduce overall gripper size. Integration is in progress.

• FSR sensors — Force-sensitive resistors are implemented but produce false negatives. Planned fixes include mechanical adjustments or switching to larger FSR units. Maintaining compact gripper dimensions remains a priority for manipulation tasks.

Pending improvements

• Complete DC motor integration and validate force control.

• Finalize PCB swap and verify size reduction.

• Resolve FSR false-negative issues without increasing gripper footprint.

Summary of pending work

Area Pending improvements
DashGo Structure Enable floor-level manipulation reach; evaluate alternative cover materials (replace acrylic)
Omni base Improve portability; replace PLA gears with Ultracur3D® RG 1100; redesign gearbox mounts for easier maintenance
Gripper Complete DC motor swap; integrate new PCB; fix FSR false negatives without increasing gripper size

See Spotlights for the development log of each.