Download 2. Task Description - Field Robot Event 2014

 2. Mechanics
Chassis from Monstertruck “Detonator” 4WD RtR 2.4GHz. Drivetrain concept: 
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Four wheel drive via cardan shaft; Ball‐bearing drive; Differential in front and rear axles. Dimension: WxLxH (mm): 340x550x230 Weight: 8 kg Turning radius (cm): ~30 NR. IMAGE DESCRIPTION 1 2 3 4 QUANTITY PRICE USABILITY Elektro Monstertruck Detonator 4WD RtR Dimensions (L x W x H): 420 x 350 x 210 mm Weight: ~2 kg (without driving battery) 1 181,37 € The Monstertruck platform is only used as robot chassis. The electronic components were removed. DC Motor SPEED 600 ECO Nominal Voltage 7.2 V No‐load speed approx. 11000 /min Current 7.5 A 1 15,70 € This is the main motor. It is used to rotate the driving wheels. Arduino Uno v3 Microcontroller: ATMEGA328 Operating voltage: 5V Supply voltage: 7V ‐ 12V Digital pins: 14 (6 PWM outputs) Analog pins: 6 4 98,97 € The entire robot is controlled by Arduino Uno. Four Arduino platforms are used. The first is connected to Pololu Dual VNH5019 Motor Driver. The second is connected to CMUcam4 Shield. The third is connected to Driver L298. The fourth is used to control the robotic arm. Servo Power HD High Torque 1501MG Supply voltage: 4.8V ‐ 6V Torque 4.8V: 15.5kg/cm Torque 6 V: 17kg/cm 1 29,09 € This servomotor is used for vehicle steering. Servomotor 9g Voltage: 4.8V ‐ 6.0V Torque 1.4kg/cm 1 8,85 € This servomotor is used to rotate a distance sensor in front of the robot. 50,85 € These servomotors are used on several applications. The first is used to rotate the distance sensor in rear of the robot. The second is used to rotate the CMUcam4 in order to acquire images from different directions. The third is used to open and close the gripper. The fourth is used to rotate the robotic arm joints. 5 Servo Medium Supply voltage: 4.8V ‐ 6.0V Torque 4.8V: 2.8kg/cm Torque 6V: 3.2kg/cm 6 4 97 Proceedings of the Field Robot Event 2014