UGV tracked Platform

NikosGNikosG Posts: 656
edited August 4 in Robotics Vote Up0Vote Down
Hi all,
I came back to the forum with another ambitious project; the creation of an UGV tracked platform.
Is about a medium to large scale robotic platform, with plenty of space to install and test several electronics!!!
Of course cost is bigger than a normal robot but I think that having the right tools and making the right decision about what you must buy you can create a really expensive robot with the minimum cost….
The project is in progress and every time I’ll try to post material of my progress …..
Ok,
Here is my design till now…
size_compare0.jpg
I haven’t finished it yet but I have already gathered all the necessary pieces (from commerce, or modified, or 3d printed or made from CNC) to do that…
As you can see the platform is completed 3D designed and the size will be: 65cmX55cmx40cm.
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Comments

  • 28 Comments sorted by Date Added Votes
  • Wow! It's great to see a teacher who's constantly pushing the envelope. Your students are going to have a fun year, methinks!

    -Phil
    “Perfection is achieved not when there is nothing more to add, but when there is nothing left to take away. -Antoine de Saint-Exupery
  • "... create a really expensive robot with the minimum cost…."

    I think you have a small typo there

    Mike
    I am just another Code Monkey.
    A determined coder can write COBOL programs in any language. -- Author unknown.
    Press any key to continue, any other key to quit

    The key words "MUST", "MUST NOT", "REQUIRED", "SHALL", "SHALL NOT", "SHOULD", "SHOULD NOT", "RECOMMENDED", "MAY", and "OPTIONAL" in this post are to be interpreted as described in RFC 2119.
  • That looks powerful enough to push a car sideways.
  • msrobots wrote: »
    "... create a really expensive robot with the minimum cost…."

    I think you have a small typo there

    Mike

    I'm trying to make something like this:

    [video]
    Without doupt itis an amazing robot, but the cost is very hight (up to 10.000$)

    I think that I have approached very close that robot with about 1200 $ cost....
  • NikosGNikosG Posts: 656
    edited August 10 Vote Up0Vote Down
    Here are all the nessecary parts for the accembly (without the Brain)
    Parts_00_num.jpg

    A first general description follows:
    1,2) Rubber trucks BD-A (100mmX40mmX36#)
    3,4) Left and right motors (24V 300Watt RV30 gearbox)
    5, 9) Modified chassis
    6) Motor Holder 3D Printed
    7,8,10,11,12,13,14,15,,16,17,18,19) Parts of chassis
    20) Aluminum motor cover and base for Motor drive, power distribution board and various electronics
    21) Aluminum base for Battery and Brain
    22,23,24,25,26) Aluminum parts of the cover from the top of the robot
    27,28) Motor driver
    29) Power distribution board (Splitter board)
    30) Emergency stop switch
    31,32) Batteries (12V 20AH each)


    On the next posts I'll try to focus for every one of these parts, give the costs and the way I made them or the way I modified them ...

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  • I would suggest a remote stop switch. It is likely nobody will wand to get up close to that thing if it is in a bad situation. Props for the idea, though!
    The greatest thing about logic is that, once you have followed the thought train, it is then your own.
  • AMAZING project, Nikos!
    Whit+

    "We keep moving forward, opening new doors, and doing new things, because we're curious and curiosity keeps leading us down new paths." - Walt Disney
  • Where did you get those motors?
    The greatest thing about logic is that, once you have followed the thought train, it is then your own.
  • NikosGNikosG Posts: 656
    edited August 13 Vote Up0Vote Down
    Where did you get those motors?

    I got them from Alibaba (china).I searched :" 24V worm gear motor "and I had a lot of results...and I bought the cheaper ( 120$ each motor )
    I could choose the gearbox (for me the best solution was the "RV30 gearbox output speed 50-60 RPM" (I'll explain on next post how we can choose the right gear box )
    motors_24V_%20300w_RV30%20.jpg

    I also made a pair of aluminum couplers (here in Greece) in order to attach motors on my chassis.
    Motor_cooplers.jpg
    The cost was 60 euro (I can say that was much more expensive than Motors!)
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  • NikosGNikosG Posts: 656
    edited August 17 Vote Up0Vote Down
    Yesterday was the first outdoor test....
    Some photos:
    farm_robot_all.jpg
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  • How did it perform?
    The greatest thing about logic is that, once you have followed the thought train, it is then your own.
  • NikosGNikosG Posts: 656
    edited August 18 Vote Up0Vote Down
    How did it perform?

    The main board will be something from Parallax....
    However in order to test the basic movements (Skid Steering) I used for a while
    my radio : AT9 Radiolink and a Pixhawk from a drone.
    The robot is to heavy (156 libs),and due to the danger for wrong movements, I put it on a DIY work table in order to achive the right Skid Steering....
    ugv_work_table.jpg
    As I said on previus post the motors I use need 24V . So unfortunalelly I couldn't use the HB25 motor controller from parallax which can aford 12V, and I bought a SmartDriveDuo30 motor driver. (Unfortunatelly I haven't seen the DHB-10 from Parallax which is much more better...)
    Pixhawk_MDDS30.jpg


    Here is a video from my first Skid Steering test

    [video]

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  • Nikos, although the DHB-10 is a great controller, I do not believe it would fit your great new platform. It is only good for Maximum surge motor current: 12 A per channel. Your 300 Watt motors, and the weight of the vehicle would be pushing it to the limits if my calculations are correct.
    Infernal Machine
  • I can't believe how quiet the motors and tracks are! Great work Nikos!
    Whit+

    "We keep moving forward, opening new doors, and doing new things, because we're curious and curiosity keeps leading us down new paths." - Walt Disney
  • Whit wrote: »
    I can't believe how quiet the motors and tracks are! Great work Nikos!

    Yes indeed... It is very quiet robot.... You understand it only when pass next to you... See the next video. You can hearing the sound of cicadas even when the robot pass next to the camera ...
    [video]
  • Lovely robot, Nikos!
    "When you make a thing, a thing that is new, it is so complicated making it that it is bound to be ugly. But those that make it after you, they don’t have to worry about making it. And they can make it pretty, and so everybody can like it when others make it after you."

    - Pablo Picasso
  • NikosGNikosG Posts: 656
    edited September 12 Vote Up0Vote Down
    ok, Here is some ideas that shows where I want to go with this project....
    UGV_All.jpg
    1) A UGV with a remote operate robotic arm
    2) A UGV platform , base for a tethered drone
    3) An outdoor sand writer
    4) A UGV with paintball gun
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  • Nice! Love that sand writer. And of course I want that tethered drone in #2 to be able to lift the base.

    And since it is a GREEK robot, thearm in #1 absolutely need to be able to stack lightweight fluted cylinders to build a Greek temple...

    temple1.jpg

    temple2.jpg

    selinunte.jpg
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    "When you make a thing, a thing that is new, it is so complicated making it that it is bound to be ugly. But those that make it after you, they don’t have to worry about making it. And they can make it pretty, and so everybody can like it when others make it after you."

    - Pablo Picasso
  • I could never choose between the four options. The robot turned out very nice!
  • NikosGNikosG Posts: 656
    edited September 12 Vote Up0Vote Down
    erco wrote: »
    Nice! Love that sand writer. And of course I want that tethered drone in #2 to be able to lift the base.

    Sand writer is also my favorite project....

    I'm in the process of the design a sophisticated sand printing head that will print characters with height 7 dots.....
    sand_writer_head_levels_z60.jpg
    Sand will be thrown down from 7 holes that will open-close 7 mini servos.....

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  • Roy ElthamRoy Eltham Posts: 2,533
    edited September 12 Vote Up0Vote Down
    That thing is a beast! I need to find where to buy those motors. (edit: saw your earlier comment about Alibaba)
  • I've never ordered anything from Alibaba, and it seems like it requires setting something up, and wants me to enter requirements?
    I found something very similar on ebay for ~$130, so I might get those.
  • Lightbulb!
    Obtain infinite funding, then build four bare bases. Then make one of each, using open channel radio to simultaneously control all four from the same controller!
    The greatest thing about logic is that, once you have followed the thought train, it is then your own.
  • Lightbulb!
    Obtain infinite funding, then build four bare bases. Then make one of each, using open channel radio to simultaneously control all four from the same controller!

    Or make the base and add ons modular so a single base module can be fitted with one of many add on functional modules.
    In science there is no authority. There is only experiment.
    Life is unpredictable. Eat dessert first.
  • NikosGNikosG Posts: 656
    edited September 15 Vote Up0Vote Down
    kwinn wrote: »
    ..... make the base and add ons modular so a single base module can be fitted with one of many add on functional modules.

    That exactly I have done. The UGV chassis skeleton, is strong enough to hold additional weight and I also have specific holes in order to addapl the add-ons .
    chassis_skeleton.jpg

    However for a tethered drone, an hybridic platform such as the discontinued Propeller QuadRover would be the perfect choise because the big need for electric power...
    Anyway maybe I'll add small gas-powered generator for that project in the future ....
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  • NikosGNikosG Posts: 656
    edited September 26 Vote Up0Vote Down
    The sand printing head is almost ready.......

    Sand_printing_head.jpg

    Using a servo tester, I can check the functionality of each one port.
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  • LtechLtech Posts: 172
    edited October 3 Vote Up0Vote Down
    And Color sand printing ?
    With the P2....

    :smile:
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