SuperDroid Robots IG52 DB Installation instructions

Mecanum Wheel Vectoring Robot - IG52 DB
Assembly and Operation
This is a chain drive 4WD base Programmable robot kit that uses 8" Nexus mecanum wheels
allowing it to vector in any direction. It can support payloads up to 200 lbs. Make it RC or use it with
sensors and a microcontroller to make it autonomous/semi-autonomous.
Images shown may not be an exact representation of the robot’s features listed in this document

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 2 of 12
Contents
Mechanical Assembly ...................................................................................................................................................3
Electrical Assembly .....................................................................................................................................................10
Operation....................................................................................................................................................................11
General Terms.............................................................................................................................................................12

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 3 of 12
Mechanical Assembly
1. Mount the motors as shown in Figure 1, with the motor spacer plate between the motor and the chassis.
Make sure to use Loctite on the screws. Do not fully tighten the screws at this point since the motors will
need to slide to tension the chain. Once the motor is mounted, the small sprockets can be mounted on
the motor shaft. The hub should face the motor and they should be pushed all the way against the inside
plate with just a small clearance for rotation.
Figure 1: Exploded view sketch of motor mounting
2. Mount the mecanum wheels to the axles by removing the 6 inner socket head screws on one side of the
wheels, sliding the axle through the wheel, and bolting it to the wheel. The axle should face the outside of
the robot.

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 4 of 12
Figure 2: Wheel/axle assembly
3. Before mounting the wheels, note that they need to be oriented correctly in order for the robot to work
properly. See the figure below for the correct orientation.
Figure 3: Wheel Orientation

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 5 of 12
4. Slide all 8 bearings into place through the bearing holes in the chassis. Slide a lock collar onto the axle,
then slide the axle through the first bearing. At this point, put the key in the shaft and slide on the wheel
sprocket. Finally slide the shaft through the second bearing. Slide another lock collar on to secure the
inside bearing and slide the outside lock collar over to secure the outside bearing. Use Loctite on all set
screws.
Figure 4: Wheel and Axle assembly

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 6 of 12
Figure 5: Sprocket with key installed
5. Measure, cut, and install the chain using the chain cutting instructions listed below.
6. Follow the instructions in the next section to wire the robot. Once finished with wiring the wheels and lid
can be installed.
Chain Measuring, Cutting, and installation
7. See the video tutorial below or follow the steps below.
Roller Chain Cutting Instructional Video
8. With the motor in the center of the slot, measure out the required length of chain and mark the two links you
need to cut.

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 7 of 12
Figure 6: Chain layout
9. The easiest way to cut the chain is with a chain breaker tool, illustrated in Figure 7.
Figure 7: Chain breaker tool
10. Alternatively, clamp the chain in a vise and grind/file the ends of the pins down. Then drive the pin through
the chain. Refer to Figure 8, Figure 9, and Figure 10.

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 8 of 12
Figure 8: Chain Cutting Setup
Figure 9: Chain grinding/breaking

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 9 of 12
Figure 10: Chain Link removal
11. Once the chain is cut to size, install it around both sprockets and install the master link as shown in Figure 11.
Alternatively, install the connecting link prior to installing the chain in the robot (so you have a loop of chain),
remove the axles, wrap chain around the motor sprocket and the loose wheel sprocket, and then reinstall the
axle through the wheel sprocket. Tension by moving the motor in the slots and tighten the motor mount
screws.
12. Repeat for the other four wheels.
Figure 11: Master Link Installation

Mecanum Wheel Vectoring Robot - IG52 DB
SuperDroid Robots, Inc Contact
224 Technology Park Lane [phone]
Fuquay Varina, NC 27526 [email protected]m
www.SuperDroidRobots.com
Revised: April 23, 2018 Page 10 of 12
Mounting Electrical Components
13. Mount batteries using battery brackets and hardware provided. Use foam tape on the bracket and
underneath the battery to ensure a snug fit.
14. Measure a place on the chassis to mount the switch. Drill a ½” hole or use a switch bracket.
15. Mount the motor controller to the front or rear plate of the chassis. If using 12Ah batteries, the motor
controller will fit between the two batteries. A custom plate will need to be installed to mount it there.
Electrical Assembly
Figure 12: Assembled Robot