In this tutorial, we will learn how to build a 4WD robot chassis using aluminum profiles and 3D printed parts.

Chassis, Crawler Chassis direct from Zhengzhou Defy Crawler Chassis, Crawler Chassis direct from Zhengzhou Defy

Once the chassis is assembled and all the profiles are aligned, we can attach components to this frame. 2. How to build the drive system A 4WD chassis is easy to design, easy to build, robust, and we have many options to attach different components and parts.The DC motors are controlled by a Sabertooth dual 25A 6V-30V regenerative motor driver. This motor driver is compatible with a microcontroller like Arduino and with a Linux computer like Raspberry Pi. If your robot application demands real-time responses, you need to use a microcontroller board such as Arduino. The Raspberry Pi board is based on an ARM-Cortex processor, which is more powerful than Arduino and capable of running ROS. In the first part of this tutorial, we’ll learn how to assemble the chassis using aluminum profiles and profile connectors. But before going into the assembly of the frame, let us first discuss the materials, chassis weight, and the need of precision. There are many possible designs for such a platform. But as an engineer, I start from a specific set of requirements to build a platform capable of hosting different sensors, microcontrollers, and computers. Also, the 3D printed parts allow me to play with different designs to produce the ultimate 4WD robot chassis. The aluminum profiles have the best strength/weight ratio for a robot. Furthermore, it has excellent corrosion resistance and the ability to connect with precision the profiles during their installation. If we want to build a robot that will go straight, you need all the frame parts and the components to be perfectly symmetric with the chassis.

Tracked Robots - Robotpark Tracked Robots - Robotpark

int pinI1=8;//define I1 interface int pinI2=11;//define I2 interface int speedpinA=9;//enable motor A int pinI3=12;//define I3 interface int pinI4=13;//define I4 interface int speedpinB=10;//enable motor B In this part of the article, we’ll learn the drive system architecture, including the components, assembly, and the 3D printed parts.Assembly of the Chassis: The chassis kit comes with paper instructions that are quite good. The pictures are designed to be supplemental to the paper instructions. Several weeks ago, I built an obstacle avoiding robot on a 2WD plastic platform. The platform works well, but it is limited in terms of space and capabilities. The iron profiles are a bad option due to weight limitations. A chassis of a robot will carry the DC motors, batteries, electronics, mounting supports, and more. All of these components and parts are added to the weight of the chassis itself, which will count towards the total carrying capacity of the electrical motors. So, we have to keep the weight as low as possible. For this chassis, the differential drive movement is used based on four separately driven wheels placed on either side of the robot body. In this case, we have to connect two DC motors from one side of the chassis to one channel of the motor drive, and the other two DC motors to the second channel. The terminals M1A-M1B and M2A-M2B are used for connecting the electric motors to the motor driver. Since each side is smaller than 10cm, this chassis meets Mini-Sumo size requirements. The front screws used to mount the acrylic plate to the chassis can also be used to mount a front scoop that can extend up to 14mm before exceeding the Mini Sumo limits. The assembled Zumo chassis weighs approximately 210g with motors and batteries.

Robot Tracks for Different Kinds of UGV Robots Custom Robot Tracks for Different Kinds of UGV Robots

In the last few years, I have examined different options to build chassis frames, including Perspex, Plexiglas, L shape aluminum profiles, and mild square iron profiles (for a heavy-duty robot). However, I have excluded Perspex and Plexiglas because these materials tend to shatter if bent. The connection between the RC receiver and the Sabertooth is simple. The motor driver has four screw terminals: GND, 5V, S1, and S2.The controller accepts analog, RC, and TTL serial input. For testing the chassis, it used the remote control method. This chassis works with four AA batteries. We recommend using rechargeable AA NiMH cells, which results in a nominal voltage of 4.8V (1.2V per cell). When the batteries are fully charged, they will be well above 5V, and when they are almost spent, they will be well below 5V. As such, you might consider using a step-up/step-down voltage regulator to power your logic, since this will hold your logic voltage steady at 5 V, no matter if your battery voltage is above or below 5V. You can also use alkaline cells, which would nominally give you 6V, but that voltage would drop depending on the load. Basic sumo blade (not included) The Sabertooth 2 X 25A motor driver has two channels to control at least two DC motors on each pipe. The chassis is running on four DC motors, so we have to connect all these to two channels.