Development roadmap of Jenny 5

Assembly manual

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Development roadmap

Note 1: CAD files may contain a more advanced version compared to the current hardware implementation.

Note 2: Some of the ideas from below may not appear in the final variant of the robot.

Task	Reason
Rotatable body	Arms could reach farther objects
Intelligent algorithm for grabbing a bottle	More intelligent robot
LIDAR on head and platform	Better detection of obstacles
Visualizing the LIDAR on the client application	Can send the robot far away and see what it sees
Visualizing the camera (video) on the client application	Can send the robot far away and see what it sees
Body movable back and forward	To make the robot more stable on inclined plane
Using carbon fiber sheets	To make the robot lighter
Arms electronics build around Arduino Mega	Could attach more sensors to arms
Custom made PCBs for leg and platform	Can have own software and can attach more sensors to them
Carbon fiber sheets	To reduce the total weight of the robot
Body movable back and forward	To make the robot more stable on inclined plane
Magnetic rotary sensors on leg	To determine the exact position of leg
Magnetic rotary sensors on platform gears	To determine the true speed of the platform
Gyroscope on platform	To determine if the robot will fall
Two legs	More stability and could climb stairs

Already implemented

Task	Reason
Extra degree of freedom for arms	more movements possible
Gripper with servo instead of stepper	faster
Motors with higher torque on platform	Finer control of the platform at low speeds
Wider leg	So that arms can grab things from the ground
Taller body	So that arms can freely rotate > 180 degrees without hitting the frame
New electronics for arm	Arms will not touch it anymore
50:1 gear reduction motors for arms	Can lift more weight

Dropped

Task	Reason
Platform with 4 tracks	More stable and overcome bigger obstacles

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