Project Approach

We started with construction of the arms, which we built using pieces from Lego construction kits.  After designing the basic structure of the arms, we began to write software to control the servos, as well as the necessary hardware to interface this design.  After constructing our ladder, we recognized the need to address weight-balancing issues.  We did this by adding a third servo in the center to control a weight shifter.  After realizing that the additional weight caused too much stress on the Lego joints, we modified the design to use a pulley system to control the balancing of the climber.  After making several modifications to the ladder to accommodate the motion of the climber, we wrote the algorithm to control the climbing motion.  We then made a number of minor physical adjustments to the climber, before settling on the final design.