Maze Solver Robot - Cirus

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This is the design of a differential robot intended to solve mazes, with an approximate diameter of 13 cm and a height of 8 cm. It is conceived for robotics competitions and to operate in mazes with cells of 20 x 20 cm.The robot, named Cirus, is equipped with three analog Sharp infrared sensors placed at 90° angles from each other on the front to detect maze walls. It features two centered micro-motors and a ball-caster as a tripod at the base, where the battery holder for 3.7 V lithium 18650 batteries is also located.On the second base, there is a power switch, a protoboard with a Raspberry Pi Pico W, and a dual H-bridge motor driver. The third base has two different models: Chasis3, similar to the second base and used to hold a medium-sized protoboard, and Chasis4, used to hold a mini-protoboard where the MPU module for navigation is located. The bases are interconnected by small columns fixed with M3 screws.Model considerations:The ball-caster component was designed based on the physical component that needed replacement, resulting in changes in the current model's dimensions.Due to the wheel placement, the weight of the structure was distributed over the ball-caster.This is a preliminary testing model; subsequently, a new model with PCB for electronics will be made.