title	layout	mathjax	permalink
Robots	default	true	/hardware-robots

# Structure

Part	Reference	Comment
	Robot frame	The robot frame can be cut in 3mm MDF or PMMA `frame.dxf`
	Marker	The marker part can be cut in 3mm MDF or PMMA Then, print the relevant robot markers and stick them on it. `marker.dxf` Robot markers
	Mainboard	Mainboard assembled PCB Click here for more details on electronics
	Structural screws	Those screws are used to fix the motors 6x M3x30 6x M3x8 female-male spacer 6x M3x20 female-male spacer 12x M3 nuts All around the board, we use spacers to protect the robot 10x M3x30 female-male spacer 10x M3x8

Motors and wheels

	`GA12-N20` `rated 6V 1:100 reduction Hall encoders (7 CPR) 6p JST-ZH connector`	3x motors The current reduction trade-off offers a high torque and the speed of the robots are thus limited. This is however not an issue in adversarial game where precision counts more than velocity.
	Motor cables	3x JST-ZH cables (double ended, inversed), 6 pins, length: 5cm. Possible reference: A06ZR06ZR28H51A.
	Motor couplers	Those couplers have internal diameter of 3mm, the small part of the ring is 10mm, the big part is ~22mm and the screw spacing is 16mm.
	3D parts	Option 1, use FDM 3D printer and print the following: 3x Half-wheel part1 (wheel1.stl) 3x Half-wheel part2 (wheel2.stl) 3x Motorbox-top (motorbox_top.stl) 3x Motorbox-bottom (motorbox_bottom.stl) Option 2, print this pack using SLS
	Wheel screws	30x M3x8 screws 30x M3 nuts 60x M3x6 cylindrical shaft DIN 7 See the 3D view
	`V623ZZ`	60x Bearings for passive wheels
	O-ring `8mm ID, 2mm thick`	60x O-ring for passive wheels, those are optional (without them it works as well)

Kicker

	`JF-0530B` `6V`	A small plunger that can be sourced from many online. Used to kick the ball.
	Kicker tip	Can be cut using laser cutter out of MDF or PMMA: `kicker_tip_1.dxf` : Front for laser, requires engraving for the nut `kicker_tip_1.step` : Front for CNC `kicker_tip_2.dxf` : Bottom
	Kicker screws	2x M3x4 screws 2x M3 lockwasher 2x M3 square nuts DIN 562

	`18650 VT6`	2x 18650 batteries
	2x18650 holder	Holder for 2x18650 batteries with jack 2.35mm output

Batteries blocker

This F-shaped blocked can be used to prevent the batteries from moving in the holder.