Mechanics

Overview

Mechanicsprimarily refers to a robot’s mechanical structure. It is a crucial element that, along with the design that determines the robot’s appearance, dictates most of its physical movements. In this section, we will focus on Cơ-nam wheels.

Mechanical Components	Description
	Assembly of mechanical components, including wiring to the motor control board and motors

Frame

　The frame features a rigid structure consisting of six 15mm x 15mm x 130mm aluminum frames from Misumi.A distinctive feature is the use of L-shaped brackets on the frame beam connecting the front and rear wheel sections to create a stepped design that reduces the overall height. This lowers the vehicle’s ride height, shifts the center of gravity downward for improved stability, and gives it a cleaner, sleeker appearance.

Step Created by L-Shaped Brackets	Description
	Although it is upside down in the photo, the step created by the L-shaped brackets

Spacer Installation-1	Description
	Installing the spacer for the motor control board

Motor

Motor Exterior

Description

The motor is a 25mm-diameter geared motor. This type. To be precise, it’s not exactly this specific product. The key is to use a 25mm-diameter, 12V motor with an encoder.You can get it on AliExpress, but be careful because shops on AliExpress tend to disappear without warning. I’ve now settled on a gear ratio of 150 rpm. This, too, went through some changes.Initially, I was using a 400 rpm motor, but after replacing the motor driver, efficiency improved dramatically—it became much faster and harder to control. Even when I switched to a 270 rpm motor, it was still too fast. That’s why I settled on 150 rpm.

Motor Installation-1	Description
	Next, let’s look at how to mount the motor. Use this partas the mount. Secure it by threading a nut through the groove in the frame. This mount part also secures the frames together.

Motor Installation-2	Description
	Arrange the motors front and back; the layout should look like the photo.

Mecanum Wheels

Fastening Points	Description
	The Mecanum wheels are a defining feature of the Robocar. Mecanum wheels are mounted coaxially on the geared motor. Apply threadlocker when securing them.

Wheel Arrangement	Description
	Pay attention to the wheel arrangement as well. Arrange the wheels so that the barrel-shaped sub-wheels positioned diagonally on the wheels form an X. This arrangement enables the robot’s unique movement.