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ATR Mechanical Description
1st Generation
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| General Description |
This is a robot that utilizes four super swamper tires, standard tires, or omni-wheels to to drive over just about any terrain.� It works on any indoor surface and most outdoor surfaces (check out the hill climbing video and curb climbing videos on our main ATR page.� Below are the links to different parts you can add onto the robot platform to customize it to your needs.�
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| Typical All Terrain Robot Robot |
Custom ATR made to explore mines.� Contact us if you want us to build a custom Robot for your application! |
Keep in mind when building this kit, that the wheels protrude past the front part of the chassis and with enough power, the robot will climb a wall.� This gives it he ability to climb curbs and rough terrain, however if the obstacle is high enough the robot will likely flip over.� So you want to make sure you have all your components on the top protected and secured for such an event.
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| Platform |
The platform can be either aluminum or acrylic.� Two sizes are available for the quad-wheeled robot.� You can stack the platforms to yield additional room.� The platforms are laser cut to accept a huge array of sensors, controllers, motors, etc.� Click on the links to learn more.
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Standard Rectangular Platform (Aluminum) |
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Standard Rectangular Platform (Acrylic) |
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Large Rectangular Platform (Aluminum) |
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Large Rectangular Platform (Acrylic) |
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All-Thread hardware kit (used to support/space out the platforms if multiple platforms are used. |
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| Motors and Motor Mounts |
Three different motor sizes are available for this kit.� The middle sized motor is recommended for most applications and will drive the robot over any indoor surface and most outdoor surfaces.� The smaller motor will work fine too depending on how much weight you plan on stacking on the robot (if >10 lbs the medium or larger motors should be used).� The largest motor is overkill for indoor stuff, but can be used if you want ultimate power.� If you want to climb hills and curbs you should use the large motor.�
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(Click on image for a larger view)
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The motor housing connects the motor to the base platform via pre-drilled holes.� There are two sizes of motor housings, the larger one only fits on the large rectangular platform (discussed above).� The standard housing fits on both the large and standard platforms (discussed above).��A typical assembly will require 4 motors and 4 housings to mount the Platform discussed above. |
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| Wheels and Drive Shafts |
The ATR wheels and shafts are sold together as one unit.� The wheels are also sold in sets of 2 since the tread is matched for the large wheels.� The shaft comes with a bearing and lock collars that fit right into/onto the motors and motor mounts.� The ATR wheels are 6.75 inches in diameters.� The wheels yield about 2 5/8" clearance under no load.� Since all 4 wheels are driven and steering is done by controlling the speed/direction of the motors (AKA skid steering) the wheels need to slip to turn, so on indoor surfaces this is sometimes not he best option.� If smaller motors are used sometimes tuning is very difficult (i.e. the wheels get good traction and load up the motors).� Slow turns are not so much an issue as turning one side forward and turning the other side reverse to get a pivot turn.� To overcome this the omni wheels are a better choice for flat high traction indoor surfaces.� If you are ordering ATR wheels, you only
need 2 sets (for a total of 4 wheels and shafts) for a typical assembly.
The Omni wheels and shafts are also sold together as one unit.� The shaft comes with a bearing and lock collar that fit right into/onto the motors and motor mounts.� The wheels are 4" in diameter.� The traction wheels are made of durable urethane to help grip the floor.� These wheels also work outdoors.� The wheels are either single row wheels or double row wheels.� The double row wheels provide a little smoother operation, but both work great.� One thing to note with the omni wheels is if you run sideways to a hill, the wheels will side slip down the hill, but if the robot angles up the hill slightly it can overcome this.� If you are ordering omni wheels, you will need 4 individual shaft and wheel sets.
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ATR wheel and� shaft set combo |
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Omni-Wheel shaft combo (single row) |
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Omni-Wheel shaft combo (double row) |
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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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All-Thread hardware kit (used to support/space out the platforms if multiple platforms are used. |
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Servo Standoff Hardware Package (used to mount servos onto the base of the robot). |
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