Descripción del producto
Robot Sumo 32U4 Pololu - Kit Ensamblado (Si Incluye Motores 75:1) #3126
Descripción del producto:
The Pololu Zumo 32U4 robot is a versatile tracked robot based on the Arduino-compatible ATmega32U4 MCU. It includes two 75:1 HPmicro metal gearmotors along with integrated dual motor drivers, an LCD, quadrature encoders, line sensors, side and front proximity sensors for detecting objects, and a full IMU for detecting impacts and tracking orientation. The low-profile robot is less than 10 cm × 10 cm—small enough to qualify for Mini Sumo. No soldering or assembly is required; just add 4 AA batteries and a USB cableand your Zumo is ready for programming.
The Zumo 32U4 is a highly integrated, user-programmable and customizable tracked robot. It measures less than 10 cm on each side and weighs approximately 275 g with batteries (170 g without), so it is both small enough and light enough to qualify for Mini-Sumo competitions, but its versatility makes it capable of much more than just robot sumo battles.
At the heart of the Zumo 32U4 is an Atmel ATmega32U4 AVR microcontroller, and like our A-Star 32U4 programmable controllers, the Zumo 32U4 features a USB interface and ships preloaded with an Arduino-compatible bootloader. A software add-on is available that makes it easy to program the robot from the Arduino environment, and we have Arduino libraries and example sketches to help get you started. A USB A to Micro-B cable (not included) is required for programming. For advanced users who want to customize or enhance their robots with additional peripherals, the robot’s power rails and microcontroller’s I/O lines can be accessed via 0.1″-spaced through-holes along the sides and front of the main board.
The Zumo 32U4 features two H-bridge motor drivers and a variety of integrated sensors, including a pair of quadrature encoders for closed-loop motor control, a complete inertial measurement unit (3-axis accelerometer, gyro, and magnetometer), five downward-facing reflectance sensors for line-following or edge-detection, and front- and side-facing proximity sensors for obstacle detection and ranging. Three on-board pushbuttons offer a convenient interface for user input, and an LCD, buzzer, and indicator LEDs allow the robot to provide feedback.
The Zumo 32U4 robot is available fully assembled with three different motor options (see the Motors section below for more information on how these different gear ratios perform):
- Assembled with 50:1 HP motors — highest speed and lowest torque of the three options
- Assembled with 75:1 HP motors — average speed and torque
- Assembled with 100:1 HP motors — highest torque and lowest speed
Details for item #3126
This version of the Zumo 32U4 robot (item #3126) ships fully assembled with a pair of 75:1 HP micro metal gearmotors (with extended motor shafts). As described above, two other assembled versions are also available, one with a higher gear ratio that is slower but can deliver more torque and one with a lower gear ratio that is faster but delivers less torque.
You can use the following table to compare these three gear ratios in more detail. The first four columns are specifications of the motors themselves, while the last column is the measured top speed of a Zumo chassis loaded to a weight of 500 g and driven with these motors. Note that the specifications are for 6V operation, which is approximately the voltage you would get with four alkaline batteries; four NiMH AA cells will typically provide less than 5V.
|Top Zumo Speed|
@ 6V and 500g
|50:1 HP or 50:1 HPCB||625 RPM||15 oz·in||1600 mA||40 in/s||(100 cm/s)|
|75:1 HP or 75:1 HPCB||400 RPM||22 oz·in||1600 mA||25 in/s||(65 cm/s)|
|100:1 HP or 100:1 HPCB||320 RPM||30 oz·in||1600 mA||20 in/s||(50 cm/s)|
Batteries (not included)
The Zumo 32U4 robot runs off of four AA batteries. It works with both alkaline and NiMH batteries, though we recommend using rechargeable AA NiMH cells.
- Even more sensors
- Connectors (headers, jumper wires, etc) for adding those sensors or other peripherals
- Tools (soldering iron, diagonal cutters, pliers, screwdrivers, etc) to help with kit assembly
Comparison with the Zumo robot kit for Arduino (with Zumo Shield)
Our older Zumo robot for Arduino, built with a Zumo Shield, is another Arduino-compatible robotic platform based on the Zumo chassis. The Zumo Shield mounts to the Zumo chassis and features motor drivers and various sensors, but it does not have an integrated microcontroller; rather, it is designed to interface with boards that have a standard Arduino form factor, like an Arduino Uno, Arduino Leonardo, or A-Star 32U4 Prime, and these boards serve as the main controller for the robot.
|A Zumo 32U4 robot (left) and a Zumo robot for Arduino with an A-Star 32U4 Prime LV (right).|
By contrast, the Zumo 32U4 includes an on-board ATmega32U4 microcontroller (the same one used in the Leonardo and A-Star 32U4 boards), combining the functions of the Zumo Shield and the separate Arduino controller into a single, compact board that is just as easy to program as a standard Arduino or A-Star thanks to its USB interface and preloaded Arduino-compatible bootloader. The Zumo 32U4 retains all the features of the Zumo shield (e.g. dual motor drivers, inertial sensors, and buzzer) while adding many new features, including dual quadrature encoders, proximity sensors, an LCD, and two extra user pushbuttons.
Some of the pin mappings and software libraries differ between the Zumo 32U4 and Zumo robot for Arduino, so programs written for one robot generally need to be modified to work on the other.
- Pololu A-Star/Zumo 32U4 Software and Drivers (version 2.0.0) (98k zip)
- This download contains the Windows drivers for the A-Star, the add-on for the Arduino IDE, the source code and compiled version of the bootloader, and a configuration file that some Linux users will need.
- Zumo 32U4 pinout diagram (536k pdf)
- Printable pinout diagram of the Zumo 32U4 main board.
- Zumo 32U4 schematic diagram (1MB pdf)
- Printable schematic diagram of the Zumo 32U4 robot.
- Zumo 32U4 main board dimension diagram (493k pdf)
- Detailed dimension diagram of the Zumo 32U4 main board.
- Zumo 32U4 main board drill guide (231k dxf)
- This DXF drawing shows the locations of all of the board’s holes.
- Zumo 32U4 robot 3D model (30MB pdf)
- Rotatable 3D model of an assembled Zumo 32U4 robot (Note: this file might not work properly with all pdf viewers.)
- Texas Instruments DRV8837/DRV8838 motor driver datasheet (1MB pdf)
- LSM303D datasheet (1MB pdf)
- Datasheet for the ST LSM303D 3D accelerometer and 3D magnetometer module.
- L3GD20H datasheet (3MB pdf)
- Datasheet for the ST L3GD20H three-axis digital-output gyroscope.
- Datasheet for the Sharp GP2S60 compact reflective photointerrupter (164k pdf)
- Datasheet for the sensor used on the QTR-3RC and QTR-3A Reflectance Sensor Arrays, the Zumo 32U4 robot front sensor array, and the Optical Encoders for micro metal gearmotors.
- Vishay TSSP77038 IR receiver module datasheet (268k pdf)
- TPS2113A datasheet (1MB pdf)
- Datasheet for the Texas Instruments TPS2113A autoswitching power mux.