UGV with mount for robotic arm

grabcad

This model was specifically designed for the MBZIRC competition held in Abu Dhabi, UAE. It is powered by four mecanum wheel drive motors with encoders that spin at 82 RPM and exert a torque of 3.3 Nm. The base assembly houses its onboard PC, drives, and power distribution board for the UGV. Meanwhile, the arm sensor base accommodates the microcontrollers and motor drives for the robotic arm. This vehicle utilizes a vision-based autonomous system that can locate valves and select appropriate tools for operation. The entire structure is made from AL 5052 H32 for its base assembly, arm sensor base, and motor mounts, while Al 6061 T6 was used to create other metal components through CNC machining. The rest of the components, including the body shell, battery rack, housing, and sensors, were made using a FDM printer with ABS material. The body shell is designed as interlocking LEGO-like pieces for easy assembly. This UGV has a maximum weight of 40 kg and can reach speeds of up to 4 km/hr.