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ATR Mechanical Description
2nd Generation
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| General Description |
This is a robot that utilizes four or six 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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| 4WD All Terrain Robot Robot |
6WD All Terrain Robot Robot |
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.
View a SolidWorks EDrawing to see a 3D image of the robot.� You can manipulate the model and see all the pieces from every orientation.� A simple way to see all the views is to hit play and it will automatically rotate the robot around for you so you can see all the views.� Please note our models are done to a level of completion to get the parts made and metal cut.� We do not waist our time showing hardware, bearings, and other useless frill...
Solidworks Free Viewer Download Link.
IG32 and IG42 Robot Platform EDrawings (128kb zip file)
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| Platform |
There are two standard platforms.� One for the IG32 motors, another for the IG42 motors.� The same chassis is used for 4WD or 6WD, on the 4WD version, the middle wheels are just omitted and can be added later.� The platform is all laser cut aluminum.� The aluminum is then welded together for a solid chassis.
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ATR Welded Aluminum Base for 32mm Motors |
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ATR Welded Aluminum Base for 42mm Motors |
The platform for the 32mm motors is 12.25" wide x 17.25" long. The sides are 2.125" high (bottom edge to top surface). Note, these dimensions do not include weld filler, which adds a little to the overall dimensions. With the 6.75" tires it has a ground clearance of about 2 5/16". The width with the wheels is about 23" and the length is about 21.5". The overall height is just the wheel diameter of 6.75".� The aluminum platform weighs about 5.4 lbs with no wheels, motors, batteries, etc.
The platform for the 42mm motors is 14.25" wide x 17.25" long. The sides are 2.125" high (bottom edge to top surface). Note, these dimensions do not include weld filler, which adds a little to the overall dimensions. With the 6.75" tires it has a ground clearance of about 2 5/16". The width with the wheels is about 23" and the length is about 21.5". The overall height is just the wheel diameter of 6.75".� The aluminum platform weighs about 5.4 lbs with no wheels, motors, batteries, etc.
The weights of the wheels and shafts are as follows: The weights are for one set - 2 wheels, axles, bearings, and hardware.� The ATR wheels are sold in sets, the Omni-wheels are sold individually.� The weighs are in sets of 2 for easier comparison.� 2 sets would be required for 4WD and 3 sets for 6WD.
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.
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| Motors and Motor Mounts |
Many different motor sizes are available for this kit.� The IG32P sized motor is recommended for most applications and will drive the robot over any indoor surface and most outdoor surfaces.� The IG32 motors 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 larger IG42 motors are 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 IG42 motors.�
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(Click on image for a larger view)
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For the standard ATRs the motors are mounted to the base via pre-drilled holes to a motor mounting plate that then connects to predrilled holes on the ATR platform. |
Top Isometric View
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Bottom Isometric View
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| We now carry many different gear motors, these are our std ones |
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24VDC IG32 195 RPM Gear Motor (~7.5kg-cm stall Torque) |
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24VDC IG32P 190 RPM Gear Motor (~35kg-cm stall Torque)
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24VDC�IG42 252 RPM Gear Motor (~75kg-cm stall Torque)
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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.� 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 4WD 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 for a 4WD robot.
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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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