The wheel assembly has been changed to a tri-omni-wheel system, eliminating the need for caster support wheels. The omni-wheel system can also be found in the Nav 2 robot. Directly above the wheel assembly, is the battery compartment, which houses only 1 golf kart battery (rather than 2, like the Mark 4). One battery is sufficient for the robot to perform its tasks under a single charge, and also reduces the overall weight.
The spooling assembly has been replaced by a motor module, which uses worm gear reduction rather than the pulley-reduction system in the Mark 4. The motor module is placed above the battery compartment. The motor module provides a tensile force on a system of steel cable which in turn operates each respective degree of freedom.
A significant modification from the Mark 4, the Mark 5 implements angular position feedback that is performed at each joint. The new location of the feedback sensors allows cable flex to be compensated by our control system. A newly revised arm is amalgamated into the Mark 5 design. Lower profile, and made of ABS plastics, the new design will allow for more complex part features through rapid prototyping procedures.
Clearing the table and loading the dishwasher.
Putting away the dishes