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Pololu原廠 Zumo Chassis Kit 智能小車 履帶機器人平台(No Motors不含電機)PI1418

小型履帶車是一台每邊小於10cm的移動平台，具有參加迷你相撲比賽的資格。主體材質是ABS包含四個AA電池以及2個微型金屬減速馬達插槽。驅動包含2條履帶、2個驅動棘輪、2個被動棘輪。還有壓克力層板以及相關零件。

產品名稱：Zumo履帶機器人平台

產品尺寸：98mm × 98mm × 39mm

The Pololu Zumo chassis is a small, tracked robot platform that is less than 10 cm on each side, allowing it to qualify for Mini Sumo competitions. The main body is composed of black ABS and features a compartment for four AA batteries and sockets for two micro metal gearmotors. It ships as a kit with two silicone tracks, two drive and two idler sprockets, a 1/16″ acrylic mounting plate, and mounting hardware. (Motors and batteries are not included.)

Overview

The Pololu Zumo chassis kit contains the components necessary to build a small, high-performance tracked robot platform that is compact enough to qualify for Mini Sumo competitions. Each side of the chassis has an idler sprocket that spins freely and a drive sprocket that connects to a micro metal gearmotor (not included). The main body is composed of ABS plastic and has sockets for two micro metal gearmotors and a compartment for four AA batteries (not included). The battery compartment terminals protrude through the chassis and can be accessed from the top side. A black acrylic plate is included with the chassis. This plate holds the motors in place and can be used for mounting your electronics, such as your microcontroller, motor drivers, and sensors. Assembly instructions are available in the user’s guide under the resources tab.

Pololu Zumo chassis kit components.

Motors (not included)

Micro metal gearmotor.

The Zumo chassis uses two motors, one for each tread. The ideal motors for your robot depend on your desired torque, speed, and current draw, so motors are not included with the chassis. We generally recommend using HP versions of our micro metal gearmotors since the tracks require a decent amount of torque to move effectively; higher gear ratios of the non-HP motors might work if you want lower current draw, but they will be slower and offer less control. Specifically, we recommend the 50:1, 75:1, or 100:1 HP motors for use with this chassis. The following table summarizes the key specifications of these three gearmotors. The first four columns are specifications of the motors themselves, while the last column is the measured top speed of a Zumo chassis loaded to a weight of 500 g and driven with these motors. Note that the specifications are for 6V operation, which is approximately the voltage you would get with four alkaline batteries; four NiMH AA cells will typically provide less than 5V.

Micro Metal Gearmotor	Free-Run Speed @ 6V	Stall Torque @ 6V	Stall Current @ 6V	Top Zumo Speed @ 6V and 500g
100:1 HP	320 RPM	30 oz·in	1600 mA	20 in/s	(50 cm/s)
75:1 HP	400 RPM	22 oz·in	1600 mA	25 in/s	(65 cm/s)
50:1 HP	625 RPM	15 oz·in	1600 mA	40 in/s	(100 cm/s)

Electronics (not included)

The Zumo Shield for Arduino is designed specifically to act as an interface between an Arduino Uno or Leonardo and the Zumo chassis. The shield provides all the electronics necessary to power the motors and includes some additional fun components for making a more interesting robot, such as a buzzer for making sounds and a 3-axis accelerometer and compass. The Zumo chassis is also available as part of a fully assembled Zumo Robot for Arduino or bundled as a kit with a Zumo Shield and Zumo blade. If you are assembling your chassis with the Zumo shield, please follow the Zumo shield assembly instructions in place of the more general Zumo chassis assembly instructions.

If your goal is to make a robot based around a controller other than an Arduino, we recommend the DRV8833 motor driver carrier or qik 2s9v1 for use with this chassis.

Batteries (not included)

This chassis works with four AA batteries. We recommend using rechargeable AA NiMH cells, which results in a nominal voltage of 4.8 V (1.2 V per cell). When the batteries are fully charged, they will be well above 5 V, and when they are almost spent, they will be well below 5 V. As such, you might consider using a step-up/step-down voltage regulator to power your logic, since this will hold your logic voltage steady at 5 V, no matter if your battery voltage is above or below 5 V. You can also use alkaline cells, which would nominally give you 6V, but that voltage would drop depending on the load.

Basic sumo blade (not included)

We carry a basic stainless steel sumo blade that can be mounted to front of the Zumo chassis. With this blade, the Zumo chassis can push around objects, such as other MiniSumo robots. You can also use the design file for this basic blade as the starting point for a custom sumo blade.

Basic sumo blade mounted on a Zumo chassis.

Dimensions

Fully assembled, the Zumo chassis is 98 mm wide, 86 mm long, and 39 mm high, with approximately 5 mm of ground clearance.

Since each side is smaller than 10 cm, this chassis meets Mini-Sumo size requirements. The front screws used to mount the acrylic plate to the chassis can also be used to mount a front scoop that can extend up to 14 mm before exceeding the Mini Sumo limits. The assembled Zumo chassis weighs approximately 210 g with motors and batteries.

Example robot based on the Pololu Zumo chassis next to a Parallax SumoBot.

We are also working on controller electronics and other components to make this into a complete sumo robot, but those will not be available until later in the year.

Documentation and other information

File downloads