Medium Killough Platform built with Lego

Please see the disclaimer for more information.

The images are rendered with MLCAD 1.7 Rel 2 , here is the source file: MediumKilloughPlatform.mpd
The parts list: Parts.txt. Note that you need the submodels more than once!
Here is some sample code, that lets the platform drive a square two different ways, first like a tank would drive and then like a Killough Platform can drive.

Wheel Unit, Build six times:

Step 1

1 x	Technic Angle Connector #2
2 x	Technic Angle Connector #6
4 x	Technic Axle 4
1 x	Technic Axle 6
1 x	Technic Bush
4 x	Technic Bush 1/2 Smooth
1 x	Technic Connector
1 x	Technic Connector with Axlehole

Step 2

2 x	Technic Bush
1 x	Tyre 56 x 30 R
1 x	Wheel 56 x 30 R
	Available i.e. in package 8446
	The wheel shown is the wrong one! It's too small.

Step 3

1 x	Technic Angle Connector #2
2 x	Technic Angle Connector #6
1 x	Technic Axle 3
2 x	Technic Axle 4
1 x	Technic Axle Pin

Motor Unit, Build three times:

Step 4

2 x	Plate 1 x 10
1 x	Plate 2 x 3
1 x	Plate 4 x 10

Step 5

1 x	Electric Technic Mini-Motor 9v
1 x	Technic Axle Joiner

Step 6

1 x	Electric Brick 2 x 2 x 2/3 with Wire End
1 x	Technic Axle 2
1 x	Technic Gear 24 Tooth

Motor Support, Build three times:

Step 7

2 x	Technic Brick 1 x 2 with Holes
4 x	Technic Pin Long with Friction

Step 8

1 x	Technic Brick 1 x 4 with Holes
1 x	Technic Brick 1 x 12 with Holes
6 x	Technic Pin

Step 9

1 x	Technic Brick 1 x 4 with Holes
1 x	Technic Brick 1 x 12 with Holes

Step 10

12 x	Plate 1 x 2
4 x	Technic Brick 1 x 2 with Hole
4 x	Technic Pin 3/4

Wheel and Motor Unit, Build three times:

Step 11

1 x	Plate 1 x 8
4 x	Plate 2 x 3
1 x	Technic Axle 4
1 x	Technic Brick 1 x 8 with Holes
1 x	Technic Brick 1 x 14 with Holes
1 x	Technic Brick 1 x 16 with Holes
1 x	Technic Bush
1 x	Technic Gear 24 Tooth
3 x	Technic Pin 3/4
2 x	Technic Plate 1 x 4 with Holes

Step 12

2 x	Technic Gear 40 Tooth
2 x	Wheel Unit from Step 3

Step 13

4 x	Plate 2 x 3
1 x	Technic Brick 1 x 14 with Holes
1 x	Technic Brick 1 x 16 with Holes
1 x	Technic Gear 40 Tooth
1 x	Technic Pin 3/4
2 x	Technic Pin Long with Friction
5 x	Technic Pin with Friction

Step 14

2 x	Plate 1 x 8
1 x	Technic Brick 1 x 8 with Holes
2 x	Technic Liftarm 1 x 5
2 x	Technic Pin 3/4

Step 15

1 x	Technic Brick 1 x 12 with Holes
4 x	Technic Pin Long with Friction

Step 16

2 x	Technic Liftarm 1 x 7
1 x	Motor Support from Step 10
1 x	Motor Unit from Step 6

Step 17

1 x	Hinge Plate 1 x 4 Base
1 x	Hinge Plate 1 x 4 Top
1 x	Plate 1 x 1
1 x	Plate 1 x 2
2 x	Plate 1 x 4
1 x	Plate 2 x 2
1 x	Plate 2 x 2 Corner
1 x	Plate 2 x 3
4 x	Technic Brick 1 x 4 with Holes
28 x	Technic Link Chain
2 x	Technic Plate 2 x 4 with Holes

Step 18

1 x	Plate 1 x 2
1 x	Plate 1 x 4
1 x	Plate 2 x 3
1 x	Plate 2 x 4
2 x	Technic Pin with Friction

Medium Killough Platform:

Step 19

3 x	Motor Wheel Unit from Step 18

Step 20

1 x	Brick 2 x 4
3 x	Plate 1 x 4
3 x	Plate 2 x 10
1 x	Wheel Large White from Robotics Invention System, fits into the 3*2 Technic Pins with Friction from Step 18 (Image shows wrong one!)

Step 21

3 x	Hinge Plate 1 x 4 Base
3 x	Hinge Plate 1 x 4 Top
6 x	Plate 2 x 3
6 x	Plate 2 x 4

Step 22

6 x	Plate 4 x 4

Step 23

3 x	Electric Brick 2 x 2 x 2/3 with Wire End
1 x	Electric Mindstorms RCX

Markus Matern, February 2002