Page 94 - The Unofficial Guide to Lego Mindstorms Robots

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Then she turns around and drives back to her starting point. She puts down whatever she's carrying, turns around and is ready
to start again.

Building Instructions

If there's one lesson to be learned from Minerva, it is that mechanical design is hard. I had to build this robot five times to get it
right. And I don't mean I moved a few pieces around—I actually disassembled and rebuilt the robot that many times. The
drivetrain alone took four tries before I got it right.∗

Directional Transmission and Drivetrain

The long gray piece in Step 1 swivels freely on the shaft.

∗ Minerva uses almost all of the gears that come with RIS 1.0. Unfortunately, RIS 1.5 comes with fewer gears (five 12t gears
instead of eight). To get the extra gears you'll need for Minerva, you can order the #5229 Gears & Differentials parts pack from
the LEGO Shop At Home Service, (800) 453–4652. Cost is $4.50 including shipping.