Direct Mount Compact ATR Support
https://www.superdroidrobots.com/shop/custom.aspx/compact-robots/52/
Summary
The DM (Direct Mount) ATRs smaller lightweight platforms that do not have the same clearance or capacity as the larger ATRs, but perform exceptionally well. They are all direct drive with the wheel axles mounted directly to the motor output shafts. This means that the motor shafts absorb the entire weight of the robot, which is why they cannot support heavy loads. These robots, however, are a less expensive option since there are fewer and less complex parts. The chassis require minimal to no welding making them very cost effective. Also, since they are small and lightweight, they are very manueverable and easy to control and they can fit in spaces that some of the larger robots cannot. 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.
SDR Wheeled Robot Categories
| Wheel/Axle | IG32 | IG42 | IG52 |
|---|---|---|---|
| Mount Method | (32mm Motors) | (42mm Motors) | (52mm Motors) |
| DM (Direct Mount) | 10lbs | - | - |
| SB (Single Bearing) | 75lbs | 100lbs | 125lbs |
| DB (Dual Bearing) | - | 200lbs | 250lbs |
- This is the maximum weight that the robot can handle. Please note that this weight varies widely upon the robot's configuration and the surface on which it is driven. Read below for more information.
Picture
The base is 10" x 8.5". The sides of the aluminum base are 1.75" high (bottom edge to top surface). When used with the 4" Shaft and wheel sets it has a ground clearance of about 1 1/4". The width with the wheels is about 14.5" and the length is about 12.5". If the top platform is used the overall height works out to be about 5.75".
Platforms
We offer a few different DM platforms. They are all made of aluminum that is cut on our CNC plasma table and bent on our CNC break press and are designed for IG32 and IG32P gear motors.
- 4WD Compact IG32 DM: This chassis is made out of 3/32" aluminum, has bent sides and welded corners, and an open bottom.
- Vectoring IG32 DM: This chassis is similar to the 4WD Compact IG32 DM chassis but is designed to accommodate mecanum wheels allowing the robot to vector.
- Trianglular Omni Wheel IG32 DM: This is a 3WD chassis designed to use omni wheels that allow the robot to vector.
Motors and Motor Mounts
Two different motor sizes are available for this kit. Both motors work well. The larger motors will deliver more power for climbing, etc, but will draw more current from the batteries. You will need four motors (one per wheel).
No Motor housings are necessary with this kit, the platform has mounting holes already in it to hold the four motors.
- 24VDC 191 RPM Gear Motor (~7.5kg-cm stall Torque)
- 24VDC 190 RPM Gear Motor (~35kg-cm stall Torque)
Wheels and Drive Shafts
As mentioned above, there are a few types of wheel and drive shafts for the different robot chassis. The following wheel and drive shaft sets for these robots:
- 4 inch Nexus Robot Double Plastic Omni Wheel with 6mm Nexus Robot Aluminum Wheel Hub
- 4 inch Nexus Robot Aluminum Mecanum Wheels with SDR Flush Mounted Hub w/ 6mm Bore for Nexus Mecanum Wheels
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.
- Hardware Package (mounts most components to the base robot base)
- Servo Standoff Hardware Package (used to mount servos onto the base of the robot)