As the design has evolved, a modular system has developed that
will make construction and maintenance of the bot easier. The modules are:
Power Module
The Power Module (total of two) includes 18 1.2v cells
(21.6v), and a removable link connector, as well as connectors to the Control
Modules. The Power Modules sit in a foam lined compartment, and lift directly
out of the bot without fasteners.
Control Module
Their are two control modules; Master and slave. The Master
Control Module contains two Victor 883 speed controllers, a power converter,
the receiver, and an inverter. The Slave Control Module contains two Victor
speed controllers and connects to the Master Control Module for it's signal
information. Both modules connect to the Power Modules for their electrical
source. Each module feeds two motors in the Motor Module. The modules will sit
between the wheels on each side, and have a flange that prevents them from
moving forward/backward, or from side to side. After disconnecting the wires
from the Motor Module, and Power Modules, they simply lift directly out of the
bot without fasteners.
Motor Module
The motor module contains 4 Dewalt 18v motors and gearboxes.
It is constructed to hold these components in the correct relative positions,
and restrain the parts from any movement. With the spindles removed, the
module will lift directly out of the bot without fasteners.
Drive Train
The drive train includes four spindles with belt sprockets
attached. These spindles release from the body with four retaining rings,
which allow them to slide from their connection to the Motor Module (Control
Module must be removed first). The wheels can be removed by loosining two
setscrews on each sprocket, and by removing the 5 screws holding the wheel to
the sprocket. The axle will then slide out allowing removal of the wheel,
sprocket, and belt.
Body
This bot uses a unibody comprised of 7 pieces welded
together, and a lid that screws on. Because of the modular nature of the
components, everything is easily removed from the bot for servicing, negating
the problems of working in such a tightly packed layout.
