Hardware Tech Specs

Hardware Tech Specs

RoSCAR Hardware list

Full Parts list (Click on vendor link to buy part)

Part  Description  Vendor  Cost 
 Base Platform 
Chassis w/ Battery Traxxas Slash Pro 2WD Short-Course Truck towerhobbies.com $207.00
Transmitter FlySky FS-GT2B 2.4GHz 3-Channel Transmitter amazon.com $36.64
Encoder Disk DISK-2-1024-441-NE US Digital $15.08
Encoder Head EM1-2-1024-N US Digital $41.80
USB Encoder Board 1057 2 Phidget Encoder High Speed Phidgets $60.00
Servo Controller Pololu Micro Maestro 6-Channel USB Servo Controller Pololu $19.95
Multiplexer Cytron 8-Channel RC RX Multiplexer robotshop.com $12.90
Subtotal  $393.37
 On Board Computing
Motherboard Gigabyte GA-H61N-USB3 Mini ITX Motherboard newegg.com $76.99
Processor Intel Core i3-3220T Dual Core Processor 2.8 GHz amazon.com $127.98
Memory Kingston HyperX Blu 4GB 1333MHz DDR3 CL9 DIMM amazon.com $34.24
Storage Sandisk ReadyCache 32 GB SSD amazon.com $44.60
USB Wi-Fi Adapter Panda Ultra WiFi Wireless-N 2.4Ghz Adapter amazon.com $10.99
Power Converter PicoPSU-90 Cyncronix 90W 12V DC-DC ATX mini-ITX amazon.com $29.95
Battery Venom LiPo 3S 11.1V 5400mAh 20C towerhobbies.com $61.99
Subtotal  $386.74
RGB-D Sensor Asus XtionPro Live RGB and Depth Sensor newegg.com $169.99
Total  $950.10

All part pics

Some Parts used are customized or manufactured via Waterjet Cutting (click on ‘Water Jet’ link to learn more)

Name Description Quantity Stock, Modify, or Build Notes
Gear no description Included on Car
Disk Hub no description 1 Water Jet Made from 1/4″ Aluminum
Encoder Disk DISK-2-1024-441-NE 1 Modify Purchased from US Digital
Disk Cover no description 1 Water Jet Made from 1/16″ Aluminum
Disk Screws M3x16 Socket Head Cap Screw 3 Stock Already in lab
Encoder Plate no description 1 Water Jet Made from 1/8″ Aluminum
Back Support 4.2 mm OD, 3.2 mm ID, 20.6 mm Length 1 Modify Made from 25 mm length (McMaster part 94669A117)
Bottom Support 4.2 mm OD, 3.2 mm ID, 27.2 mm Length 1 Modify Made from 25 mm length (McMaster part 94669A117)
Support Screws M3x35 Button Head Socket Cap Screw 2 Stock Already in lab
Encoder Head EM1-2-1024-N 1 Stock Purchased from US Digital
Head Screws 3-48×5/8″ Pan Head Phillips Machine Screw 2 Stock Already in lab
Head Nuts 3-48 3/16″ Width Machine Screw Hex Nut 2 Stock Purchased from McMaster

Be Sure to check out the Waterjet Files and Modifications to find out how to modify and assemble them.

Chassis

The RoSCAR platform is a modied version of the Traxxas Slash 2WD 1/10-scale RC car [9]. To support our on-board computing platform, we added an aluminum mounting plate, which required the relocation of the radio receiver, speed controller, and motor battery mount. The base plate is large enough for mounting the on-board computing hard-ware, computer battery, servo controller, multiplexer, and encoder board. Figure 2 depicts the assembled RoSCAR platform with call-outs indicating the aforementioned com-ponents. Further components not visible in Figure 2 are the motor battery, which is located on the underside of the plat-form; and the solid state hard drive, which is located under the motherboard. The base platform was further modied with the addition of upgraded shocks, rated at 1155 N/m to account for the increased payload.

mobisys_mars_2014
Overhead View of assembled car

Construction

The table above lists the various components of RoSCAR, vendors from which they were purchased, and their prices as of April 2014. Not included in this list is the cost of custom machined parts, such as the motherboard mounting plate. In this table, we draw a distinction between the base platform, and the computing platform. This is to facilitate a direct comparison between other educational platforms that do not include a computing platform in their base price, such as the iRobot Create. Total cost of the RoSCAR base platform is $393.37, neglecting tax and shipping. By way of comparison, the iRobot Create currently (as of April 2014) sells for $220 with battery [5].

The cost of the computing platform with battery totals $386.74, which is comparable to a netbook computer of similar performance that might be used in conjunction with other robot platforms. With the Asus Xtion at $169.99, the total parts cost of the RoSCAR is $950.10. Not included in this cost is the necessary labor to assemble the RoSCAR.