Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 9 | Antweight Battlebot |
Allan Gu Evan Zhao James Yang |
Michael Gamota | proposal1.pdf |
|
| # Antweight Battle Bot Team Members: - Evan Zhao (evanhz2) - Allan Gu (allang2) - James Yang (jamesey2) # Problem We must create a Battlebot that weighs less than 2 lbs out of 3D printed materials in order to compete with other battlebots. It must be controlled through Bluetooth or Wi-Fi and be able to be easily shut down. In order to win in the competition, the robot must be robust and capable of destroying the opposing robot, while withstanding damage from other competitors. # Solution Our battlebot will be 3D printed with PLA+ and use a vertically spinning disk as our weapon. It will have a 4-wheel drive and be controlled via Bluetooth with an ESP32 microcontroller. This MCU will use PWM to control the H-bridges for motor activation and take in user inputs from a computer. # Solution Components ## Control System We plan to use an ESP32 for our MCU, as it has built-in Bluetooth and Wi-Fi capabilities. The battlebot will use Bluetooth to connect and communicate with a computer and a wired controller can be used with the computer to provide more inputs like varying speeds using the joystick. The controller will have a killswitch button for safe shutdown. The ESP32 has a variety of GPIO pins, which can support PWM. This will be used to control the H-bridges for motor speed and direction. ## Power System For our robot’s power system, we intend to use a 4S LiPo (~14.8 nominal voltage, ~16.8 charged voltage). We chose LiPo as it is a standard in most combat robotics applications for its high power density and ability to discharge lots of charge quickly which is seen a lot in the combat space with high-power weapons and drive motors. Since ESP32 and other modules that we may use do not typically operate at this voltage, we will also need voltage converters and regulators to supply the appropriate power to these sub-modules (typically 3.3V and 5V). ## Movement System Our combat robot will utilize a four-wheel drive with two brushless or brushed motors on either side of the chassis each driving 2 wheels in a tank-drive configuration. For a brushless configuration, we are considering brushless 1406 motors (https://repeat-robotics.com/buy/repeat-tangent-drive-motors/?attribute_motor-size=1406) that will provide us with plenty of power and torque for a relatively low-cost in weight. A 3-phase inverter will be needed to control the BLDC motors. If we chose brushed motors instead, we would use Repeat Drive Brushed Mk2 (https://repeat-robotics.com/buy/brushed/) which comes with an integrated gearbox and would be simpler to electrically implement than a brushless system at the cost of being less powerful and fast. The motors would be controlled with H-bridges and GPIO from the ESP32. ## Weapon System The weapon will be some kind of vertically rotating 3D-printed weapon driven by a brushless 2207 Battle Ready Hub Motor (https://repeat-robotics.com/buy/2207-battle-ready-hubmotor/). This motor is known to be reliable and durable for battlebots. Similar to the four-wheel drive motors, we will also need a 3-phase inverter to control the BLDC motor phases. # Criterion For Success It would be considered successful if the movement of the robot can be controlled via Bluetooth from a PC and it can function how we would desire within a match such as turning to face the opposing robot and ramming into it with the weapon. The weapon should also be controllable and powerful enough to damage 3D-printed material while maintaining its structural stability. |
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