Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 9 | Ant Weight 3-D Printed BattleBot |
John Tian Mig Umnakkittikul Yanhao Yang |
Gayatri Chandran | proposal1.pdf |
|
| # Ant Weight 3D Printed BattleBot Competition Team Members Yanhao Yang (yanhaoy2) Yunhan Tian (yunhant2) Mig Umnakkittikul (sirapop3) # Problem We will design a 3-D printed BattleBot to attend the competition instructed by Professor Gruev. To attend the competition, we will need to meet the following requirements: - BattleBot must be under 2 lbs. - BattleBot must be made only of these materials: PET, PETG, ABS, or PLA/PLA+. - BattleBot must be controlled by PC via Bluetooth or Wi-Fi. - BattleBot must have a custom PCB that will hold a microprocessor, Bluetooth or Wi-Fi receiver, and H-bridge for motor control. - BattleBot must have a fighting tool activated by a motor. - BattleBot must have an easy manual shutdown and automatic shutdown with no RF link. - BattleBot will adhere to the rules on the NRC website. Our overall goal is to design, code, and build a war robot capable of thriving in the robot battle competition. # Solution We will build a 2-lb, 3-D printed BattleBot with a front-hinged lifting wedge (shovel) as the weapon to flip and destabilize other robots. The main structure will be ABS for toughness, PLA for non-critical connectors, and PETG around the power system and microcontroller for heat resistance. Control is via PC over Wi-Fi or Bluetooth using an ESP32 microcontroller.The bot will have at least three motors:Two DC-powered motors to control the robot's wheels for mobility. One geared lifter motor for the shovel, controlled through H-bridge drivers. # Solution Components ## Microprocessor We will use the ESP32-S3-WROOM-1-N16 for our BattleBot because it combines built-in Wi-Fi and Bluetooth, eliminating the need for separate modules. Its dual-core processor and ample RAM/flash provide sufficient power to handle motor control, PWM generation, weapon actuation, and sensor processing simultaneously. Its weight (6.5 g) is ideal for a 2-lb bot, and it supports many peripherals. ## Attack Mechanism To attack, destabilize, and flip opponent bots, we will use a front-hinged lifting wedge (“shovel”) as our primary weapon. The wedge will be 3-D printed with PETG for impact resistance, reinforced at hinge and linkage points to withstand stress. It will span about 50–70% of the bot’s width and feature a low, angled tip to slide under opponents effectively. A small, geared lifter motor will actuate the wedge through a lever linkage, which amplifies the torque from the motor to lift a 2-lb target. ## Mobility System We will use four small wheels (2.25’’), with the two rear wheels powered by high-torque 600 RPM, 12V DC motors. The smaller wheels lower the ride height of the bot, giving it a lower center of gravity, which improves stability during combat and reduces the chance of being flipped, while still providing solid ground traction. The motors strike a good balance between speed and torque, offering sufficient pushing power to maneuver our heavily armored bot effectively. ## Power System We will use Lithium Polymer (LiPo) batteries, 4S 14.8V 750 mAh, as the higher voltage may be required for the weaponry. LiPo batteries are significantly lighter than NiCd, provide more power, and save space. Additionally, we will integrate a motor current sensor (e.g., INA219 or ACS712) into the motor driver circuits to monitor current draw. The ESP32 will read these values in real-time, allowing us to detect stalling conditions and activate manual/automatic shutdown to protect motors and electronics. ## Bot Structure Materials We will use ABS for the main bot structure, as it offers sufficient strength and a good balance between durability and printability. PLA will be used for general-purpose parts, such as inner connection pieces, where high strength is not required. Finally, PETG will be used around the power system and microprocessor to provide additional heat resistance. # Criterion for Success The project will be considered successful if: - The BattleBot can be fully controlled remotely by PC, including movement and wedge activation. - The wedge lifter and drive motors operate reliably, capable of destabilizing or flipping a 2-lb opponent. - Manual and automatic shutdowns function correctly, independent of wireless communication. |
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