Inspired by the as-yet unexplored shafts of the Great Pyramids, we built a robotic crawler intended to climb the small, angled channels. I worked with a team of three peers to create our crawler. The unique challenges of this project included designing within the strict constraint of using only the materials we were provided with. This meant getting creative with different parts, and shaping them to serve our purposes. We also couldn't just muscle our way up the track - we had to refine our design in order to make it efficient.

We strove to maximize efficiency while minimizing power losses in both the transmission or wheels. We designed a 3-stage spur gear transmission and used a symmetrical design for the wheels. To ensure the crawler ascended the track without driving out of the track or into the wall, we used a flat Lego piece as a sled aligned with the inner wall of the track

On test day, our crawler used only 28 Joules. 

For more information and analysis of our crawler, see the report below.