| General Description |
 The Heavy Duty ATR kit is an extremely rugged well built robot. It was originally designed for a university that requested a rugged robot outfitted with encoders, but without the need for the full enclosure that comes with the deluxe ATR.
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The robot's chassis is very rigid to support large weights.� The wheels are driven with timing belts (similar to the deluxe ATR), but can also be equipped with chains for heavier loads. .
The wheels are axle mounted and supported using two sealed ball bearings. Each of the four axles are driven by a large gear motors via a 10:15 #25 chain reduction.� With chains, the powerful IG42 Gear 252 rpm motor and standard tires can handle loads < 50lbs.� For added capacity the tires can be foam filled and a lower gear ratio motor can be used.� The inside of the shafts are drilled and a bracket is supplied for mounting encoders to each shaft/wheel if desired.� IG42 gear motors with encoders are also available too,
The motors and transmission allow this robot to climb walls. The wheels of this robot are our Tamiya 6.75" Dia. All-Terrain Tires. The wheel hubs have a hex coupling that matches to our axles for a slip free engagement. The robots dimensions are ~20.75" wide and ~19.75" long (wheel to wheel edge). The base is about 12.25" x 16.25".� The robot has a ~2.375" clearance.� The chassis itself weighs about 5.2lbs.�� With the wheels, bearings, chains, and axles the weight is slightly less than 12.5lbs.� The weights of the batteries are listed on the battery item pages.� The weights of the motors are listed on the main motor category page.� There will also be some minor weight for the hardware, wires, and electronics.
| Click on image for larger views |
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| Bottom CAD view showing gusseted design, encoders, motors, belts and pulleys |
Side CAD view with wheels and outside plate removed. |
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| Motors and Motor Mounts |
This ATR is only set up with our IG42 large gear motors.� The standard motors are 252 RPM.� The motor to wheel gearing is 10:15.� The wheels are 6.75 inches in diameter.�
So... 250*10/15*3.14*6.75/12 = ~300 fpm (~3.5mph) travel speed (of course the motor speed is nominal at 24V the batteries usually run about 27 volts so the RPMs are probably faster and then if there is a lot of load on the motors they will run slower, etc. etc.)� Any ways, its a fairly quick and powerful robot.�� If you want more power you can choose the 122 RPM motors for about half the speed and twice the power.
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Large IG42 Motor (252 RPM) |
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Large IG42 Motor (122 RPM) |
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| Hardware |
The final item you need to make you kit complete is a hardware package.�
It includes nuts, bolts washers, nylon spacers (for isolating your electronics and controller boards), cable ties, and cable hold downs.
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Hardware Package (mounts most components to the base robot base). |
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Servo Standoff Hardware Package (used to mount servos onto the base of the robot). |
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