4WD Omni Wheel Base Kit with 42mm motors

This is our 2nd generation base ATR kit fit up with OmniWheels. As pictured it has double row omni-wheels, but you can also purchase it with single row omni wheels.. It is an extremely rugged well built robot. The wheels are axle mounted and are supported using sealed ball bearings. The motors are very powerful. The base is made of aluminum that is easy to drill mounting holes for your electronics. The kit provides you with what you need to make a great Omni-Wheel robot.

This robot is ideal for indoor and light duty outdoor activity. The ATRs steer using skid steering (differential steering). By varying the speed or direction of the wheels will allow the robot to turn. With high traction ATR tires this is difficult because the tires have to skid. Using the Omni tires allows easy turns because the wheels allow side slip. This kit should only be used on level ground. While the robot is plenty powerful to climb hills straight on, if the robot is sideways to a hill, it will side slip down the hill. We have loaded these robots up with over 100 lbs and it turned and drove very well. See our general ATR page for videos.

This is a rugged frame made of 1/8" thick aluminum to accept our IG42 gear motors. This is our 2nd generation ATR frame and wheel housing. We took our previous design that had separate motor housings that mounted to a base and made it all one piece. We also stretched it slightly, adding the ability to make it 6WD. The aluminum frame is fully gusseted adding greater rigidity. The aluminum is all laser cut for an exact fit-up and then hand welded and polished. Later if you want to make this robot 6WD, just add the middle set of wheels and motors. The middle wheel is 1/16" lower than the front and back to allow easer pivoting with the ATRs, with the omni wheels this will cause a little rocking if you make this 6WD. See our ATR page for more details.

The base 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 double omniwheels the total width is about 19.25" by 18.75" long and 4" high (the wheel height). The clearance is a little over an inch.

There are a lot of options and additions you can select, the links of all the items are included below. Follow the links for details of each item and option.

For full details and descriptions of the ATR and all the items, see our ATR Robot Building Page . Additionally, you can see our general ATR page for videos of the ATR robot in action.

When you purchase this kit you will get access to our assembly manual that contains color images and step by step instructions, or you can opt for us to assemble it for you.

Standard Items:
	The following items are standard with this package. ATR Welded Aluminum Base for 42mm Motors - TD-037-002 (qty 1) ATR and Vectoring Robot Hardware Kit - TD-021-000 (Qty 1) Electric Motor Hookup Kit - TE-024-000 (Qty 4) Electric Power Hookup Kit - TE-025-000 (Qty 1) 15 Amp Connector Set - TE-027-015 (Qty 2)

Wheel Options:
	This kit is pictured with double row omni wheels. Single row wheels can also be used. The double row yields smoother operation designed for IG32 gear motors. For the omni wheeled robot we recommend the IG32 195RPM motor for a good balance of speed and power. Omni-Wheel and Shaft Set - Double Row - TD-022-002 (qty 4) Omni-Wheel and Shaft Set - Single Row - TD-022-001 (qty 4)

Motor Options:
	This kit is designed for IG42 gear motors. For the omni wheeled robot we recommend the IG42 252RPM motor for a good balance of speed and power. The 346RPM motors are also offered, we have not tried these, it will be real fast and should have enough power, but has not been tested. IG42 24VDC 075 RPM Gear Motor - TD-016-075 (qty 4) IG42 24VDC 122 RPM Gear Motor - TD-016-122 (qty 4) IG42 24VDC 252 RPM Gear Motor - TD-016-252 (qty 4) IG42 24VDC 346 RPM Gear Motor - TD-016-346 (qty 4)

Battery Options:
	For the motor batteries, you need 24V batteries. 24V 4000 mAHr NiMH Battery Pack - TE-023-020 (Qty 1)

Motor Controller:
	For the motor controllers, you can choice any of these controllers. We recommend 4 of our PWM controllers (TE-058-000) with IG42 motors (one per motor). PWM Motor Controller 3A 12-55V - TE-058-000 (Qty 4) Sabertooth Dual 10A Motor Driver - TE-091-210 (Qty 1) MD22 Devantech Dual Motor Driver - TE-020-000 (Qty 1) Sabertooth Dual 25A Motor Driver - TE-091-225 (Qty 1) MD03 Devantech 20A 50V Motor Driver - TE-036-000 (Qty 2)

Assembly:
	You receive access to our fully illustrated manual that helps you assemble the robot. If you wish you can have us assemble the robot.

This kit does not include a microcontroller, sensors, or RC unit. See our ATR Robot Building Page for options and links to our controllers, sensors, and controller batteries. Don't forget to get your battery chargers either.

This item usually ships within 1-2 days depending on volume and assembly options.