CMDragons Small-Size Robots

In our continuing effort to help promote the small-size league and to aid other teams (both new and old) in developing their robots, we are releasing the mechanical and electronic designs for our differential drive robots, or diffbots as we call them. As with our game software, the designs are released as is, with no warranty.

In any research publications, we would appreciate it if you cite our paper:

Mechanical Parts

Here are all the mechanical parts of the system. The main chassis is made out of 1/8" aluminium plate or right angle. The back and dribbler housing are printed using the Fuse Deposition Modelling (FDM) machine (FDM 3000 from Stratasys). The cover is made from 1/32" clear polycarbonate sheet which is then painted with flat black spray paint. All files were drawn using Pro Engineer 2000i². Most parts were 

	Chassis	This is the main part of the robot. The base plate is made from 1/8" aluminium plate, the side brackets from 1/8" right angle bracket.
	Dribbler/Kicker	This is the dribbler/kicker housing. It was printed on our FDM 3000 machine using ABS plastic.
	Cover/Backpiece	These two parts are the cover and the battery cover (back piece). The cover is made out of 1/32" clear polycarbonate sheet that is folded and then painted black. The back piece was printed with the FDM 3000 machine using ABS plastic.

Parts list

The following is the parts list for these robots.

Eletronics

The electronics are based on a two 4-layer boards. The motor controller boards uses a TMS320LF2407 16bit DSP from Texas Instruments. It must be programmed using a JTAG emulator (we use the XDS510 PP Plus from spectrum digital). Source code for the robot can be found at our coral software downloads.