TORI : our firt Sumo robot
The Sumo robots are small robots destined to fight on a circular plater called the Dohyo. They are perfectly autonomous, and they cannot exceed 10x10cm at the beginning and weigh less than 500g. This page is dedicated to our “mini-robot” TORI, whose mane refers to a martial-art technic. Unlike its partner Uke, Tori is the one completing and achieving the exercise with success.
The TORI design was made in seven months and required two versions: the first version for the Sumobot of Noisy-le-Grand (competition in March, 2016), the second one for the National Robotics Tournament of Nîmes (May, 2016). Indeed, our participation to the Sumobot allowed us to know the reality of the competitions and to adapt the speed and the power of our Sumo robot in order that it will be up to fight.
Hereafter, we present the different technical aspects of TORI.
|TORI VERSION 1||TORI VERSION 2|
1) The TORI-LED board
TORI will be constituted by four electronics boards. The TORI-LED card allows us to differentiate ourselves from the opponent by playing on the aesthetic and originality of the robot. Composed of 40 LED RVB reproducing the robot’s name, it will placed at the rear and will light on when it starts. While waiting for the final result, you may see thereafter the 3D representation of the TORI-LED card, made with the Altium Designer software program (a simple click allow to browse in the animation).
2) The power supply boards
Tori will be composed with two power supply cards built in parallel in order to insure functioning in case one of the two breaks down. Each board delivers the necessary tension for the robot that is 5V for electronics, 6V for the engine, and 7.4V for the shovel’s servomotor. You can see thereafter a new 3D animation (made with Altium Designer software).
3) The SNCC board
The SNCC board, which stand for Système Numérique de Contrôle et Commande, meaning the Control and Command Numeric System, placed under the robot, allows to control the engines and the shovel’s movements, to deal with the adverse robot’s localisation, and to avoid getting out of the game’s ground thanks to the edge detection of the Dohyo. It is therefore composed of optical sensors, infra-red light telemeter, driver engines and an Arduino Nano board that deals with the artificial intelligence.
Our partner, WeDirekt, gave us all the PCBs.
Efficient Batteries !
We have made the choice to equip our Sumo robot with two Lipo batteries 7.4V / 800mAh. They beneficiate from a great discharge capacity (35C) for a limited size and weight (50gr and 55 x 31 x 16 mm). Two batteries equipped the first version of TORI; the final version only have one. Positionned above the robot in order to be easily accessible (replacing or risks inherent to the Lipo technology), it insure us enough autonomy to enchain several matches.
Actuators and sensors
1) Motors and wheels
TORI is made up of four driving wheels powered by miniature direct current (DC) motors and “rims” on which six O-rings are assembled. Initially the chosen motors had a rotation speed of 60 rpm. To increase the moving speed of TORI, we replaced them with 300 rpm motors.
TORI detected its contestant thanks to two infrared rangefinder (GP2D12) put only in the front. During the first competition we notice that TORI missed visibility. Three additional sensors (infrared) were add on the sides to overcome this problem.
TORI is equipped with a shovel to push the opponent out of the Dohyo. It is powered by a “smart” Herkulex DRS-0101 servomotor. Unlike the “conventional” servomotors, this one can be controlled, inter alia, in speed, position, etc. and check itself this information.
1) 3D parts
TORI is design thanks to the assembly of ten pieces, drawn on SolidWorks (CAD software) and built by our partner: Stratomaker! The printing quality and the finishing of the pieces make TORI a robot noticed during the different competitions.
In its initial position (before fight), TORI has a square base of 98 mm side and a height of 125 mm. Once launched (shovel lowered), TORI measures 156 mm long, 96 mm wide and 70 mm high. Its total weight is 476 grams.