About:
      I think I was a little too ambitious when I started this project. I had all these ideas going through my head, but very
little regard to physics. This robot had undergone many many revisions because after the initial assembly, I found that
it was great in every respect, it was new and revolutionary, but there was one major problem. It couldnt turn! Even using
tank style dynamics, aka set one side forward and the other to reverse, it would just tear itself apart.
      Even after many hours of metal fabrication, these hurdles proved to be too overwhelming. But instead of completely abandoning
the project, it just sort of evolved. The pieces ended up being utilized for it's successors.






Drive Train:
This was my first attempt at raising the robot well above it's wheels. To do this, I mounted wheels to legs and coupled them
with their motors via a chain linkage.


Assembled:
Here is the robot standing for the first time.


DK-001B (First Mutation):
After discovering that my current configuration was limited to one axis, I played with a few ideas before scrapping the
design all-together. In this re-design I added casters in the rear to facillitate aft-swing.




DK-001C (Second Mutation):
      This rover utilizes almost all the components from the first mutation. It was a complete rebuild, however, so it was given it's own mutation classification.
In this mutation the rear legs were removed and replaced with a cubic support structure. It proved to be much more stable, and with the
casters attached to the bottom of this new rear structure, it was actually able to turn.




DK-001D (Third & Final Mutation):
      Still in that rover streak, I really wanted something that would work, so I started yet another re-construction of this robot. The use of legs to attach
the wheels to the motors was still a priority in my mind, and building upon the experiences gained from the previous mutation failures, I went ahead
and built casters right into this design.




Additional Pics:

The completed chasis prior to the attachment of any hardware.

The control circuits. What we have here is the Pic Processor board on the right, a custom made memory expansion board,      in the center and the relay card on the left. This cluster operates at 4mhz and receives the human-issued commands using a high-pass/low-pass filter pair to differentiate tones sent through a walkie talkie from a computer.

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