Tennis ball-service robot

Designing around the ball-service cycle

The planned workflow links movement around the court with ground-ball collection, internal storage and ball handover. These tasks place different demands on the same mobile base: approaching a ball, aligning with a collection module, carrying a changing load and stopping for service.

For the chassis, this becomes a set of connected layout questions. Where should the payload sit relative to the wheel axis? How does leg motion change the available clearance? How can the structure support the service modules while keeping their working space clear?

One chassis, several mechanical interfaces

I am working on the overall wheel-leg arrangement and the chassis structure around it. The layout needs to reserve space for the ball-handling modules and their transfer path, as well as the electronics, power system and assembly access.

The important interfaces extend beyond mounting holes. They include the clearance beneath the platform, the space needed by moving mechanisms, the location of stored balls and the paths used by wiring and power distribution.

• Wheel-leg geometry and structural support for the mobile base.
• Ground clearance and approach geometry around the collection module.
• Payload location and load changes as balls move through storage.
• Mounting, cable routing and service access for the surrounding modules.

Mobility and stationary service

Court travel, obstacle negotiation and stationary ball service call for different operating postures. The chassis design considers how the wheel-leg geometry supports those transitions and how the upper structure is loaded during them.

Stable stopping is part of the mechanical design brief. I am considering payload position, body layout and module interfaces together so that movement and service can share one coherent base.