GZERO Robot Sumo – MEB Turkey Robot Competition 2016 1st Place WinnerEmre Tarhana
I started to design with my team at the beginning of first months of 2015 at Istanbul, Turkey. I updated old design of Senju and it bringed me victory. We made very harsh matches with another Turkish teams and never lost. Please watch video below.
First 3D design was made, and it began to be made in production. 2 weeks within ended the production of CNC and CNC Laser machine.
Gears: Specially made sumo robot gears for speed and usability. 0,6 module helps good reduction in only 1 stage while maintaning small dimensions. Pinion gear specially made for 6mm shaft maxon motors. Pinion gear covers the shaft completely.
Wheels: The tire is directly molded to aluminum hubs by vulcanisation for making stronger & harder. Which is a must for sumo robot projects. It jsumo.com these wheels are sold. (http://jsumo.com/shop/jsumo-robot-wheel-40x30mm-pair/ )
Motor Control; Our own design special motor driver boards.
We are using Hip4081 mosfet H bridge driver ICs. And for mosfets I used IRF3205 mosfet transistors. At first test we used 4 mosfet for each driver. Later I doubled mosfets.
Microcontroller; specially designed control board, PIC16F series were used. Our controller uses PIC16F877A working at 20Mhz. I choosed Pic16F877A because of easiness and small size.
– 5 x Keyence MultiBeam PZ-G41P Diffuse Reflective Type Infrared Sensor;
They have superior sense distances.
– 2x Pepperl+Fuchs Diffuse Type Reflective Sensor (ML-8-1000-RT)
We used them also looking to front (Left and right holes at front)
Line (Edge) Sensors :
-4 x QTR-1A Contrast (Edge) Sensor. They are very tiny.