Deluxe ATR Mechanical Description

See our prepackaged ATR Kits or Contact Us for a custom designed/built special purpose ATR

General Description

Version 2 of the Deluxe ATR shown with a camera dome, fan system and Halogen lights.	Version 3 of the Deluxe ATR, now with a larger back and top section to accommodate more batteries, electronics, etc.	Version 3 of the Deluxe ATR painted with yellow acrylic covers and a 8" camera dome

The Deluxe ATR kit is an extremely rugged well built robot. It was originally designed as a water tight robot to go into mines.�� Its design has gone through a couple iterations to make the performance and assembly optimum. The robot can be fitted with many options (front embedded halogen lights, cooling fan option, roll bar, and camera pan and tilt option)

The robot is entirely enclosed and can be used in all weather conditions. The wheels are axle mounted and supported using two sealed ball bearings. Each of the four axles are driven by a large and powerful IG42 Gear motor via a chain drive to yield a smooth and slip free mode of operation. The ends of the shafts are exposed on the inside if you wish to mount encoders to them. There are side access panels that allow easy assembly of the motor and belts and adjustment of the belt tension. 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 ~22.75" wide and ~20" long (wheel to wheel edge). The robot has a ~2.5" clearance. The height of the robot is ~7.5" from the ground, with the camera dome ~11.5". The chassis is ~14.5" wide x ~18.25" long.

Front, showing lights, and fan housing without the filter media	Side with one wheel removed showing sealed bearing and hex drive shaft that couples to the wheel.	Side of Deluxe ATR showing side access panel for mounting motors and adjusting belt tension.

Frame

The frame is made of 1/8" thick aircraft grade aluminum. The design uses all laser cut parts with mortise and tenon design for precise alignment and mating of the parts. The covers are tinted acrylic that is also laser cut to match the holes of the mating flanges that are tapped after the laser cutting. A galvanized metal cover for shielding EMF is provided for going over the four motors which are mounted in the center. A middle tray is also provided that mounts on top of the motors for mounting your batteries and/or electronics too. The chassis is completely welding using TIG and MIG. Gaskets are also provided for sealing the acrylic covers.

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 14:18. The wheels are 6.75 inches in diameter.

So... 252*14/18*3.14*6.75/12 = ~350 fpm (4mph) 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 pretty 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.

• Large IG42 Motor (252 RPM)
• Large IG42 Motor (122 RPM)

Wheels and Drive Shafts

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.

Hardware

We include a bunch of hardware with the kit so you can bolt the system together and get going.