|Motors: 4x Pololu Micro Metal Gear HP 50:1 (HP=High Power=important!)
Servo for scoop: MG995 (eBay)
Proximity sensors front: 4 x Sharp GP2Y0D340K, 2 Sharp GP2Y0A21YK
Proximity sensors rear: 3 x Sharp GP2Y0D340K
Proximity sensors sides: 4 x Sharp GP2Y0D340K
White Edge detection: 6 x ITR8307
Accelerometer 3 axis: MMA7341L
Wheels: 4 x custom made with casted tires (See description below)
Battery: LiPo 3cell custom made from three single cell 600mAh(eBay).
The parts was then produced using a CNC mill, the CAD drawings was converted into machine instructions (g-code) using CAMBAM. The parts that were milled were the motor mounts, wheels, and all part for the scoop.
The tires of the wheels are made of polyurethane. Vitalij Rodnov over at Baltic Robot Sumo have written an excellent guide of the casting technique.
|The two big PCBs was designed in Eagle and thereafter ordered for production. The clearances were to small as well as the vias to many to produce it in our lab. The PCB for the scoop however was produced in our lab.|
|Microcontroller master (top board): ATmega324
Microcontroller slave (bottom board): ATmega168
Voltage regulator (Switched from 11.1V to 5V): LM2576T
Motor controllers (h-bridges): 2 x MC33887
Bluetooth module (external, plugs in on the side): RN-41
Protective layer of polycarbonate and painted pink.
The robot as it looks after have running some competitions.
|Gold Swedish Championship 2011
Gold Swedish Championship 2012