Team mark l

Abstract for Techfest 2K20

Robowars

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 TABLE OF CONTENTS :
1. Introduction
2. Design Specifications
3. Weapon Design
4. Material Description
5. Transmission Details
6. Motor Specifications
7. Power Supplies used
8. Electronics used

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 Introduction :
BOT NAME : BABBU
Babbu is a wedgebot designed by team
Mark L. It is a middleweight bot with a
chassis made of steel. Babbu was
designed keeping in mind the most
important aspects of battlebot
robotics, which are compactness,
strength and swift mobility. The
wedges with different angles were
used to incorporate both attacking and
defensive design in a compact and
effective way in the bot.
The bot is ready to show off its skills
in techfest 2K19 to 2K20 rather than
like this on paper ! Let’s see what
happens in the battle. Babbu is quiet
confident and it is ready to win.

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 Design Specifications :
Side View

Top View :

The Dimensions are in centimeters(cm).

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*NOTE : 8 – 10% tolerance may be
assumed in the bot measurements.
1. The various dimensions of the bot have
been clearly mentioned in the above
diagram.
2. The Ground Clearance of the bot is kept
negligible to incorporate maximum
advantage of lifting by the wedge in front.
3. Two wedges, one at 23 degrees and
other at 31 degrees are incorporated in the
bot aiming to produce an attacking as well
as defensive design. More details about
weapon design can be found in the weapon
specifications.

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 Weapon design :
FRONT ATTACKING WEDGE :

 The front wedge is kept at an

angle of 23 degrees with no
ground clearance.
Usage :
Used for attacking and lifting the
opponent bot.
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 REAR DEFENSIVE WEDGE :

 The rear wedge is kept at a

defensive angle of 31 degrees
with negligible ground
clearance(t ~ 3.2cm)
Usage :
Used as defensive weapon for bot.
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Future Plans(This will be presented
in the competition) :
We are working on implementing a
vertical spinner in our bot. It will
be on the front side of the bot. It
will serve the purpose of damaging
the opponent bot lifted on the front
wedge. We are extremely sorry for
not presenting any information of
the vertical spinner such as CAD
drawing, motors used for them etc.
because we are still working on
the spinner and haven’t compiled a
final researched information on it
to present to you. If you allow we
would definitely present later when
it is ready to present.

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 Material Description :
 Current State :
Babbu’s chassis is made of
normal industrial 12 gauge sheet
of iron mig welded at joints to
strengthen the joints and build a
powerful sustainable chassis.
 Future Plans(Currently our team
is working on this) :
We have started working on our
new stainless steel chassis to
make a better and stronger body
for our bot. We are definite
about bringing a better stainless
steel chassis to the competition.

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 Transmission Details :
The shaft of the currently being used
ebike motors(amflows will be used in
the competition) are directly welded
to an extended shaft(to increase the
length of the motor shaft) which is
then mounted to the wheels in the
following manner :

 The extended motor shaft is

attached to the wheel bore by
two iron pins as shown.

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 The iron pins are bent so that
they lock the shaft in the wheels
properly preventing a loose
joint.

 Two washers are then used to

hold the shaft in place :

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  The extended motor shaft is
held in place by two
washers(one at the front face of
the wheel bore and other at the
rear face of the wheel bore).
This prevents slight movements
of the shaft in and out of the
wheel bore aiming to provide
more stability to the shaft.

------------------------------------------------------------
Bot Drive :
 Babu is a two wheel, wheelchair
drive robot with wheelchair
steering and moving
mechanism.

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 It rotates and steers by
changing the speeds of right and
left motors(producing a change
in torque about the axis of
rotation eventually producing an
angular acceleration leading to
steering or if a couple is formed
complete rotation) as well as
moves straight by keeping the
speed of both the wheels
same(producing no torque and
thus no rotation ,only translation
motion occurs).

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 Motor Specifications :
 Current Motors :
E-bike motors 
These are motors used in electronic
bi-cycles.

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Specifications :
 Voltage: 24 Volt DC
 Output: 250 Watt
 RPM (after Reduction) – 300
 Full load current – 13.4A
 No load Current – 2.2A
 Torque Constant – 8 N.m (80 kg-cm)
 Torque stall – 40 N.m (400 kg-cm)
 Sprocket: 9Tooth only fits #410 bicycle chains
 For Chain Size: Pitch 0.5 inch
 Roller Diameter 0.3 inch
 Roller Width 0.16 inch

Measurements of the motor :

THE DIMENSIONS ARE IN mm.

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  Future Plans(This specifies the
motors which will be used in the
competition) :

Ampflow A28-400 :
This motor is specifically designed
for battlebots.

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Specifications :

Measurements of the motor :

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Performance chart of the motor :

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 Power Supplies Used :
EXIDE SMF 7Ah Battery(3 connected
in series to make 36 volts) :

Specifications :

Three of these batteries are connected

in series to make 36 volts.
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 Electronics Used :
DC MOTOR CONTROLLERS :
 Currently used :
Cytron SmartDrive-60 :

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Specifications :

This driver is used to control two

wheel driving motors(E-bike
motors).
Cytron smartdrive-60 is a powerful dc motor controller
which can bear upto 60 amps continuous current and 100
amps Peak current for 10 seconds. It readily hooks up with
a RF receiver.

It is also pre-programmed and thus provides complete

control without any programming except for in our case,
we programmed an arduino and hooked it up with the
controller to control its senstivity while
steering(preventing bot from steering very fast).

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  Future Plans(This will be used in
the competition) :
AmpFlow 160A Dual Motor Speed
Controller :

Specifications :
 The AmpFlow Dual Motor Speed Controllers operate at 6 to 42 Volts and can handle 160
Amps per channel. They feature adjustable braking, acceleration, and current limiting.

 A BEC (Battery Eliminator Circuit) provides a 5V power output for use with radio control
receivers or other devices.

 Two mixing options are available. Each joystick can operate one channel independently, or
a single joystick can operate both channels for tank-like steering.

 Over-current and over-heat control logic prevents meltdowns and provides the maximum
current even under stalled conditions. The maximum current limit is adjustable.

 The 160A controller measures 7.5" L x 4.3" W x 2.2" H. Weight: 1.4 lb .

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Additional features :
* Both channels can be combined into a single channel with 300A output
* Additional third channel for low-current switching of auxiliary device
* Inputs for two quadrature encoders for full servo control
* Two servo connectors plug directly to an RC receiver
* Adjustable current limiting
* User selectable servo feedback: Encoder or Analog voltage
* Full RS232 serial command and setup
* Multiple-operating modes: Normal PWM, Torque, Velocity, Servo-Position
* Manual control inputs (Step/Dir) for each channel (Left, Right, Aux)
* Robust signal processing for smooth, reliable fail-safe operation
* Indicator LED's show direction, power, over-temperature, and board status

The driver has many same features as cytron smartdrive-60

but it is much better in aspects of handling high current
and heating which is required in high end battlebot
robotics. Driver also implements braking and other better
control handling features like providing smooth continuous
current for preventing sudden random changes in
movement and also has better reaction time which enables
fast and swift change in movements when required
providing better handling. The Driver can also bear
continuous 160A which is much better than cytron and is
required for high power motors such as ampflow A28-
400(which we mentioned to use in the future i.e in the
competition). We can be sure to prevent any money loss on
a driver because it is definite that this driver won’t get
damaged!

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RF Transmitter and receiver used :
FLY SKY FS-CT6B 6 CHANNEL
TRANSMITTER AND RECEIVER :

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Specifications :
 STICK MODE : Left hand or Right hand

 MODULATION : Frequency Modulation

 ANTENNA LENGTH : 88 mm

 CODE TYPE : PPM/GFSK

 POWER : 12V DC(1.5V AAA x 8 Not included)

 Weight: 696 gm

 Dimensions: 180 x 220 x 70 mm(LxWxH)

 Color: black

 Certificate: CE FCC

 RF POWER : Less than 0.8W

 CHANNELS : 6 channels TX RX

 MATERIAL & COLOR : NA& Black and Blue

 Super active and passive anti-jamming capabilities.

 Very low power consumption.

 High receiving sensitivity.

 8 model memory, digital control.

 Programmable by PC with included software.

 Full range 2.4GHz 6-channel radio.

 4 Types (Airplane, Heli90, Heli120, Heli140).

 Integrated Contrast Adjustment, Throttle cut.

 Computer USB Socket.

 Use a linear spread of fine paragraph by excess antenna.

 It covers the entire band width of he antenna bandwidth range.

 High quality and stability.

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 Controller Labled Diagram :

Receiver Labled Diagram :

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 The End

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