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3D model description

This new version of SMARS is reduced to the essential. The chassis has been eliminated to reduce printing time, motion system is an updated version of the pro tracks model, it gives smooth and precise movement. This model moved the trade off between modularity and flexibility to another level, SMARS V4 lite is Arduino based but can easily mount Raspberry PI 3B/ 4B or a Microbit by adding a simple adapter.

This pack contains the following parts:

  • SMARS V4 Lite core unit
  • ultrasonic sensor
  • claw
  • connector extensions
  • line sensor

smars v4 blue

Core unit:

  • 2x 150RPM 6v N20 motors
  • 1x Arduino UNO
  • 1x Adafruit Motor Shield V1 or V2
  • 6x 5x10x4 bearings
  • 12x 5x8x2.5 bearings
  • 2x silicone wristbands
  • 1x velcro strip

Sensors

  • 1x HC-SR04 Ultrasonic Sensor
  • 1x KY-032 infrared sensor (Line sensor)

Claw

  • 1x MG90S 9g Servo Motor

Battery

  • 8.14Wh 7.4V 1100mAh 35C Li-ion-Po Battery with JST Plug
  • 20 AWG JST Plug Connector 2 Pin

OR

  • USB Rechargeable 9V Lithium Batteries - 5400mWh
  • 9V battery connector

OR

  • PS3 controller 1800mAh 3.7V Li-Ion Battery

Optional

  • I2C Interface 8X8 LED Dot Matrix Display

smars v4 lite

Chassis

Silicone wristbands can be used as tracks. Such solution gives an incredible grip to the robot and a more fluid motion due to the bearings system.

Mecanum wheel (ilon wheels) hack. If you put 4 motors in the robot, thus one motor for each wheel, then you can unlock benefits of mecanum wheels:

  • no need to turn wheels
  • moving straight, sideway, diagonal
  • turning araound one wheel, its center, one of the wheel axis

Note: If the robot gets stuck, the transmission should automatically decouple the wheel from the motor shaft preventing current peaks. This will avoid damages to motors or electronics controller.

3D printing

Reviewing parts for 3d printing.

Settings: 0.2mm, 15% infill

Arduino UNO size is 69mm x 53mm. Geometry is in mm (not in)

The joints of the tracks are simply pieces of 1.75mm filament cutted at the right length.

I used toothpicks instead :) Also possible to use binding rivets (size 1/8") as pins

Also possible to print the whole track in go already assembled if put it on the side (see https://www.thingiverse.com/thing:2319872)

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