Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 12 | 4-Wheel-Drive Invertible Ant-Weight Battlebot |
Haoru Li Ziheng Qi Ziyi Wang |
Zhuoer Zhang | design_document1.pdf final_paper1.pdf presentation1.pptx proposal1.pdf video |
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| # Ant Weight Battlebot Team Members: - Ziyi Wang (zw67) - Ziheng Qi (zihengq2) - Haoru Li (haorul2) # Problem For ant-weight battlebots, 3D-printed materials introduce significant vulnerabilities. Though many robots can effectively defend strikes, they are prone to "turtling" and may lose mobility when flipped. Under the competition rule, losing mobility will quickly lead to knockout. When inverted, weapon systems such as vertical spinners may rotate in an ineffective direction or lose engagement with the opponent entirely, significantly reducing combat effectiveness. Preserving weapon functionality in both orientations remains a critical challenge for ant-weight combat robots. In addition, sudden high-impact collisions can introduce transient power spikes and voltage fluctuations in the power distribution system, which may disrupt onboard electronics, or cause overall system instability during operation. # Solution We want to design a invertible 4-Wheel-Drive battlebot with vertical drum spinner. According to our investigation, vertical drum spinner is an ideal weapon choice as it is rigid and can effectively flip opponents. To solve the problem of "turtling," the robot uses a symmetric chassis with wheel diameters exceeding the total chassis height, ensuring traction regardless of orientation. And bigger wheels also allow the battlebot to function even after flipped and the vertical rollercan change its direction as well. To address the cognitive load of inverted driving, we integrate an onboard IMU that automatically detects a flip and remaps the motor control logic in the firmware, making the transition seamless for the operator. To ensure electrical stability and prevent brownouts, the custom PCB utilizes a decoupled power architecture. We isolate the high-current weapon system from the sensitive logic rails using a high-efficiency switching regulator and a large bulk capacitor array. The robot is divided into three primary subsystems: Power Management, Control & Sensing, and Drive & Weapon Actuation. # Solution Components ## Subsystem 1: Power Management and Distribution Provides stable, isolated power delivery to all robot subsystems while meeting the 24V maximum battery voltage requirement. Detail specifications awaits to be put on based on selection of motors. ## Subsystem 2: Control and Communication Function: Receives operator commands, processes IMU orientation data, and generates appropriate motor control signals with automatic inversion compensation. *Components:* * Microcontroller: ESP32-WROOM-32D module with integrated WiFi/Bluetooth * Part: Espressif ESP32-WROOM-32D * IMU Sensor: 6-axis accelerometer and gyroscope module * Part: InvenSense MPU-6050 (GY-521 breakout module) * Interface: I2C communication at 400kHz Firmware Logic: Continuously poll IMU at 100Hz to determine Z-axis orientation If Z-acceleration indicates inversion (threshold: -8 m/s² to -10 m/s²), apply 180° phase shift to drive motor PWM signals fit the pose change. Maintain weapon control polarity regardless of orientation Implement exponential response curve on drive inputs for fine control ## Subsystem 3: Drive Train Provides four-wheel independent drive with sufficient torque for pushing and maneuverability. Components: * 4 Drive Motors with expected weight of ~10g each ## Subsystem 4: Weapon System Vertical drum spinner delivering kinetic energy impacts to destabilize and damage opponents. Performance Targets: Weapon tip speed: 150-200 mph (conservative for material constraints) Spin-up time: <3 seconds to operating speed Subsystem ## Sybsystem 5: Chassis and Structure Provides impact-resistant housing for all components while maintaining invertible geometry and meeting weight requirements. # Criterion For Success 1. The total weight of the battlebot should always remain below 2 lb. And the robot should execute a complete motor shutdown within 2 seconds once triggered by software or hardware switch. 2. Logic systems (ESP32, IMU) must maintain operation during weapon spin-up and simulated impact loads. And communication should stay on. 3. The robot can work as expected: move according to PC inputs and do not need manual adjustment; weapon spinning vertically; shutdown in time according to PC commands; self-adaptive when flipped (mobility and weapon functionality) 4. The chassis and mounting structures must withstand repeated weapon engagement and collisions without structural failure. |
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