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Robot 8 • The ULK (Useful LEGO Knowledge)
The Caster
ULK is a differential-drive robot. It has two main wheels that are used for locomotion and steering,
and a third wheel that provides balance. The third wheel is a swivel caster that can pivot in its
mount to point in the direction that ULK is arming.
Caster Step 0
The offset between the pivot
and the wheel’s axle causes the
caster to align itself with the
direction of travel. The bent
part of the caster that
provides the offset is called
the horn. 3x3 bent liftarms are
used for ULK’s caster horns.
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