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Combat Robotics Tutorial

by JaredsProjects

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16 Steps

Sha re

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***DISCLAIMER: Some of this information could be better or is inaccurate.


Specifically how big of a battery you need. I plan on making a new tutorial
eventually, but for the most part this tutorial is accurate.***
Have you ever wanted to build a combat robot (battlebot), but gave up because
you didnt know where to start? Well, hopefully this tutorial/instructable will help. I
condensed a lot of information down into a step by step process, taking out most
of the stuff you really dont need to know, but leaving the crucial information. This
tutorial is focused on the insect weight robots (75grams to 6 pounds), because
the majority of competitions held are for insect weight robots, and they are the
least expensive.
Throughout this tutorial I will be putting a robot together for demonstration. I used
wood for a material,and you shouldn't. The reason why I used wood, was
because I was just putting the robot together for this tutorial, and I am never
going to compete with it. In fact I already threw it away, because it was a mixmatch of a bunch of different ways to do things.

Step 1: Weight Classes


Before you do anything else, you have to pick a weight class. The weight
constraint helps determine which parts are needed.
Insect Weight class:
75g Fleaweight (not common)
150g Fairyweight (5.3oz)
1lb Antweight

1kg Kilobot (Canada Only)


3lb Beetleweight
6lb Mantisweight (not common)
I suggest building an antweight or a beetleweight as a first robot, because you
dont have to be as concerned about weight as with lighter robots. It is less
expensive to build a antweight, but you will find it easier to stay under the 3
pound limit. Also, beetleweights are more common than antweights, but any
competition that has beetleweights will have antweights, and vice-versa. So, it is
really up to you, just pick a weight class and go with it, you can always build
another robot for a different weight class.

Step 2: Weapons
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The different types of weapons seem to be endless. There are two main
categories: active weapons and passive weapons. Active weapons are any
weapon that moves. Passive weapons basically turn the whole robot into a
weapon, via a wedge, spear, or something of that sort. I have a bias towards
active weapons, because the matches are more action packed, but robots with
passive weapons are very successful due to their inherent strength.
Passive Weapons:
Wedge Robots:
These robots use a wedge to flip the opponent over. They usually have very
strong drive motors. To defend against wedges, make sure your robot can flip
itself back over, or can drive upside down.
Spear Robots:
These robots use a spear to pierce the opponents armor. They require very
strong drive motors, and sometimes even that isnt enough power to get through
the armor. Spear robots are very uncommon in insect weight robots, because it is
difficult to find motors powerful enough to make the robot able to pierce armor. To

defend against spear robots, make sure you have strong armor.
Active Weapons:
Horizontal Spinners:
These robots usually have a fast spinning and heavy bar that does a lot of
damage. They also put a lot of strain on their own parts though. The best defense
against these robots is to have strong armor and all of you electronics shock
mounted (Velcro). This area of weapons includes but isnt limited to:
Horizontal Bar Spinners
Full Body Spinners
Undercutters
Vertical Spinners:
The robots usually intend to flip the opponent over, and do damage with
weapons that have teeth on them. The best defense against these is to either
have armor that wont get chipped apart, or will let little pieces come off at a time,
not all at once. This area of weapons includes but isnt limited to:
Saws
Drums
Vertical Bar Spinners
Flippers/Hammers:
Most of these robots use pneumatic cylinders to quickly move a flipper or
hammer. Most of the time hammers arent very effective on insect weight robot,
because it is hard to make one with enough force to pierce armor, and keep it
under the weight limit. The best defense against a hammer is having durable
armor. Flipping robots are effective against robots that cant drive upside down.
But with the exposed arms that are used for flipping, they arent very durable. The
best defense against a flipping robot is being invertible. This area of weapons
includes but isnt limited to:
Hammers
Flippers
Motorized wedges

Rare Weapons
Fire breathing
These robots usually arent very effective, unless their opponent has some
parts made of wood. Also some events dont allow fire breathing robots. The best
defense against these robots is to make sure no electronics are exposed, but you
will probably never face one of these robots in the insect weights.
Multibots
These robots are more than one robot working as one. An example would be
three 1 pound robots competing as a beetleweight robot. These robots are
slightly more common than fire breathing robots.
No weapon is the best, if it is built strong; it is just as effective as any other
weapon. Some weapons such as a full body spinner may seem unbeatable, but
when the robot has to spin something that heavy that fast, it puts a lot of strain on
all the components, causing things to break. Also certain weapons work better
against certain types of robots.
To conclude for the best defenses: make sure your robot is invertible, has strong
armor, no electronics exposed, and all the electronics are shock mounted.
One thing I learned with my first robot, Titan, is that you should use a bigger shaft
size than you think. For example, on Titan I used 1/8 diameter shaft for the
drum, but it snapped in 4 out of the 6 matches I had. That being said, generally
these sizes will work:
-Fairyweight 1/8
-Antweight at least 1/4
-Beetleweight at least 1/4", but 3/8 would be better.

Step 3: Design

This is step is just tips, because everyone designs in a different way.


Tip 1:
When designing a robot one important thing to keep in mind is weight. I usually
start to pick out parts, and make a chart with the weight.
Tip 2:
Draw it in a CAD program. This is probably on of the most important tips I can
give. Not only does it help you end up with a better robot, but it can save you
money too. When you draw it in a CAD program you can try out designs and
different parts without ever buying any parts. I usually go through 10-25 different
designs until I get to the prototyping stage. Then I refine it once or twice, and the
robot is just the way I want it.
Tip 3:
Leave extra space. Although all if you draw it out it may look like all the
electronics will fit in one tiny area. But, when it actually comes to putting it
together it doesn't fit right. Most of the time it is because there isn't enough room
for all the wiring. I am currently running into this problem with my antweight.
Tip 4:
Tell someone about it. If you have a friend that is interested in this kind of stuff,
talk to them about your design. They might point out some key things that you
overlooked. I have found that working on a robot with someone else yields a
much better end result.
Tip 5:
Don't jump right into building the robot after you have designed it, unless you
have a very short amount of time. If you just think about the design for a few
days you will usually come up with some improvements. I usually draw about 5
times on paper (not to scale), changing a little every time, and then I draw it it
Rhino (CAD program).

Step 4: Basic Parts


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The basic parts that you need are:


Drive Motors
Wheels and Hubs
Drive Speed Controller
RC Radio / Receiver
Batteries
Power Switch / Link
Weapon Motor (If Design Requires)
Weapon Speed Controller(If Design Requires)
Wire
Connectors
All of these parts can be found at:
www.robotmarketplace.com
Suggested Parts:
Drive Motors:
Fairy 100:1 SRV Drive Motor (or similar)
Ant 100:1 SRV Drive Motor (or similar) or FingerTech Spark Series
Beetle FingerTech Spark Series or B Series Motor
FingerTech Silver Spark motors are great motors and have plenty of power for an
antweight. Some builders use them in beeteweights with success too.
Wheels / Hubs:
Fairy Lite Flite Series Wheels w FingerTech Hub
Ant Lite Flite Series Wheels w/ FingerTech Hub
Beetle Lite Flite Series Wheels w/ FingerTech Hub or BaneBots Wheels/Hubs
Drive Speed Controller:
Fairy FingerTech tinyESCs
Ant FingerTech tinyESCs

Beetle FingerTech tinyESCs or BaneBots 3-9


When choosing you speed controller, choose your drive motor first, and then
match it up with a speed controller that can handle the amps of the motor.
RC Radio/Receiver:
For combat robots the radio/receiver HAVE to have failsafes on all channels.
That means that if signal is lost, or the radio is turned off, then channels will turn
off, and the throttle channel returns to its set position.
I suggest the Spektrum DX5e radio paired with the Spektrum AR500 Receiver, or
if you need a lighter receiver go with the Spektrum AR6110e. I suggest these,
because they have failsafes built in, making them legal for use in combat
robotics. Also the DX5e and AR500 combo package is only $100. That gets you
a radio and receiver with the best technology on the market. They have great
range and virtually no interference. Also since it is 2.4GHz all you have to do is
bind it once (very easy to do), and then you dont have to deal with frequency
crystals. Most of the 72MHz (radios that use frequency crystals) radios and
receivers are more expensive than this too, making it almost a no-brainer. But,
there is a GWS brand system available for around $80. Sure, you can go for the
GWS system and save $20, but it wont have as good of range, you will have to
carry different frequency crystals for competition, and it wont last as long. As far
as Im concerned the only way to go is the DX5e paired with either the AR500 or
the AR6110e.
EDIT: spozman has brought this radio: HK-T6A and this receiver: HK-TR6A to my
attention. They are sold by FingerTech and are legal for use in combat robotics.
They are also 2.4Ghz, but almost half the price as the DX5e and the AR500. I
can't vouch for how well they work, but they appear to be perfectly fine for a
robot. If you are on a budget, definitely go for this radio and receiver, but if you
don't mind spending a bit more, then go for the DX5e and the AR500.
Batteries:

For insect weight robots Lithium Polymer (LiPo) batteries are the most common.
The reason is because they are so light. They may be a little pricey, but if you
take good care of them they can last 5 20 years (depending on how and where
they are stored). I wont go in to all the details about charging and care for LiPo
batteries, because there are many websites that can explain this better than me
(just type safely charging discharging and storing LiPo batteries into a search
engine). But I will say this: Dont short them out, because they will swell, catch
fire, or explode (none of which have ever happened to me). But dont let that
discourage you from using them, because if you just use some common sense
the batteries will be fine.
When deciding how many Amp Hour you need for batteries add up the stall
current of all of your motors, then divide the the Amp Hour value of the batteries
by the total stall current. If you multiply that number by 60 you will get how long
the batteries will last in the worst case scenario (stalled motors) in minutes. The
batteries should be able to last at least 3 minutes.
*EDIT*: The above advice about battery size is bad advice. You will end up with a
battery size that is much bigger than necessary.

Power Switch:
Fairy Removable Link
Ant Removable Link
Beetle Wyachi MS05 or Removable Link (If you need to save weight)
Removable Link
A very simple power switch that can be made by follow the steps in this video:

Wyachi MS05
A bit expensive, but very effective switch. It takes 4 turns with and allen wrench
to turn it on and off, making it unlikely to fail during combat. I suggest it over a
removable link, because it is much more durable, and there is less of a chance of

it shutting itself off during combat.

Weapon Motor:
I highly recommend brushless motors. I dont have a specific motor to suggest,
because almost all brushless motors are well built, and they come in so many
different sizes that only you know what size you want for your robot. If I had to
suggest a brand it would be E-Flite. The reason why brushless motors are better
is because they dont draw as many amps, they are much faster, and they dont
get nearly as hot. I had a brushed motor get so hot that it started to melt the
plastic mount.

Weapon Speed Controller:


Once you pick a motor, most of the time there will be a recommended speed
controller on the motors page. If there is not, you can look through the speed
controllers on Robot Market Place if you know what specs you need, or you can
leave a comment asking which speed controller to use, and I will be more than
happy to answer it (usually within a day or less).

Wire:
When choosing wire go for Silicone wire of Deans Ultra Wire, because they are
the most flexible, and can handle the most current for their gauge size. The wire
is a little bit more expensive, but well worth it.
As a general rule for wire gauges:
- Beetleweight 14 to 16 gauge
- Antweight 16 to 20 gauge
- Fairy - >22 gauge

Connectors:
Its good to use connectors for attaching electronics together, that way it is easier

to swap parts if they break. I like Deans plugs, but any of these connectors will
work (as long as they arent way to big): Connectors

Step 5: Materials
One major question is: What material should I use? There are a lot of different
materials that will work, you just have to decide what properties you must have
(i.e. strength, weight), and what properties don't matter to you.
Properties:
Material Family - Plastic/Metal
Impact Strength - How much of an impact the material can handle.
Tensile Strength - How well the material can handle being pulled.
Flexibility - How flexible the material is. (Relative i.e. grabs material, twists
it, yes it flexes)
Density - Density from Machinist -Materials
Main use - Armor/Base-Plate/Etc.
Here is a list of commonly used materials:
UHMW (Ultra High Molecular Weight)
Material Family - Plastic
Impact Strength - High
Tensile Strength - Low-Medium
Flexibility - Medium-High (I wouldn't make a base-plate out of it)
3
Density - .034 lbs/in
Main Use - Armor
This is a great material. I use it for armor on all of my robots. I
wouldn't worry about the low tensile strength, because with its high
impact strength and low weight it is the perfect armor for insectweight robots. Also, this material is very affordable.
Delrin
Material Family - Plastic
Impact Strength - Medium-High

Tensile Strength - High


Flexibility - Rigid
Density - .051 lbs/in3
Main Use - Baseplate/Armor
I am using this for a baseplate in my current robot, Slash. It is very
rigid, and is still fairly light. Also it is affordable.
Polycarbonate
Material Family - Plastic
Impact Strength - High
Tensile Strength - High
Flexibility - Rigid
Density - .043 lbs/in3
Main Use - Baseplate/Armor
This is a good material for armor, but has a tendency to crack after
big impacts. Also it is quite a bit more expensive than Delrin and
UHMW.
Aluminum
Material Family - Metal
Impact Strength - High
Tensile Strength - High
Flexibility - Rigid
Density - .101 lbs/in3
Main Use - Baseplate/Armor
I don't suggest using aluminum, because once it bends, it doesn't
bend back. The Base-Plate of Titan is proof of that.
Carbon Fiber
Material Family - Composite
Impact Strength - High
Tensile Strength - High

Flexibility - Rigid
Density - .0643 lbs/in3
Main Use - Baseplate/Armor
Don't use carbon fiber, or any composite for that matter. Carbon
fiber has great properties, until it breaks. When a normal material
breaks, usually just a little piece breaks off, but not for carbon fiber.
Since carbon fiber is made of woven strips of carbon fiber fabric,
when it breaks it ones spot it starts to break all the way through. In
other words, with composites it's all or nothing. They sound like the
best thing ever, but with one little break all those awesome
properties go away.
*EDIT: I have since changed my mind a little about carbon fiber. It
will work in lower weight classes (<1lb, 3lb is pushing it), but don't
be surprised if it breaks after a big impact. Personally I would
sooner go for delrin, because it is just as rigid, and will stay together
better in big impacts. Also delrin is surprisingly lighter.
Titanium
Material Family - Metal
Impact Strength - High
Tensile Strength - High
Flexibility - Rigid
Density - .16 lbs/in3
Main Use - Baseplate/Armor
Titanium is the perfect blend of strength and weight. It does weigh
more that twice what UHMW and Delrin weight, but it is worth it on
some pieces. Most of the time Titanium wouldn't be used for armor
unless the robot is a wedge robot. It is very useful for use in a
weapon though. It is what I am using on Slash.

I picked these materials because they are the most commonly used in insectweight robots. I left out some materials like steel, because they are rarely used,
and when they are it is for the weapon. If a material isn't listed here that doesn't
mean that you shouldn't use it on a combat robot, it is probably just a material I
forgot to mention or didn't know about.

Step 6: Motor Mounts


The easiest to make, and the best motor mounts in my opinion are clamp style.
Basically it is a square block with a hole for the motor, and a notch to allow
tightening.
This video gives the step by step process of making one:

Step 7: Base Plate


Most of the time insect weight robots dont have a chassis, instead the armor is
attached together, and the components are attached to the armor. You could
consider the base plate to be the chassis, but it is also armor. Things to keep in
mind when designing:
Placement of electronicsMake sure to have plenty of room, otherwise it will be difficult to repair between
matches, and things are more likely to break if they are packed together.
Wheel PlacementCombat robots use tank style driving. This means that there are 2 to 4 wheels,
and both sides operate independently allowing for a agile robot with a short
turning radius. Also you have to protect your wheels, because they are the first
target during a match. Exposed wheels are easy targets for a robot.
This video shows the step by step process of making a base plate:

Step 8: Armor Attachment


These are good way to attach armor pieces to each other and the base plate:
Angle-Iron (available in plastic)
-Works when the armor needs to be attached at a 90 degree angle. Screws or
glue can be used to hold it in place.
Glue
-Just gluing everything together can work in insect weight classes. I dont
recommend using glue, because it isnt very strong, and good robots will tear the
armor off in seconds if it is held on only be glue.
Hinges
-Hinges are popular in attaching wedges to a robot, because it allows them to
sit as close to the ground as possible.
Milling entire robot out of one block of material
-This way there are no joints; the problem with this is when part of it breaks the
whole thing has to be replaced instead of one piece of armor. But this solves the
problem of entire pieces of armor being torn off. This is usually very expensive,
because it requires a lot of milling.
Video:

Step 9: Mounting and Powering a Weapon


The best way to mount a spinning weapon is to use bearings that are inside
bearing blocks to support the shaft. I have found it difficult to find places to buy
bearing blocks from. So, you will need to find bearings that will work for you shaft,
and then make your own bearing blocks. It is difficult to make bearing blocks by
hand, so it is best if you have them machined. The blocks should attach to the
base plate by screws of bolts, providing a sturdy support for the weapon shaft.
A pulley should be attached to the shaft to power the weapon, because if the
weapon is attached directly to the weapon motor, the shaft of the motor is likely to
break. Replacing a weapon shaft is much cheaper than replacing a motor.

This video provides a step by step process of mounting a weapon:

Step 10: Mounting Electronics


For insect weight robots Velcro works the best for mounting electronics. This is
suggested in the RioBotz tutorial, because it absorbs shock, and it makes it easy
to remove the electronics. Some Velcro is very flat, and doesnt move around
much, this Velco won't work as well.
Duct tape will also work in little loops. But it needs to be switched every few
matches, otherwise it will come loose.

Step 11: Wiring Your Robot


Havent given up on your robot yet? Congratulations, because it will soon be up
and running and you will have that satisfaction of driving it and knowing that you
finished. Its hard to explain in writing how to wire the whole robot, so for some of
the parts that apply in general I will explain it in words, but the video will include
everything.
Here are the videos:
Part 1:
Part 2:

Part 3:

The receiver uses a 3 prong connector, one for positive (5v), on for ground, and
one for data. The Sabertooth 5RC has cables that come off of it that will plug into
the receiver. Make sure that the red wire matches up with the pins on the receiver
that are label with a +. Most of the time the cable labeled drive should be
plugged into the ELEV slot on the receiver. Also the cable labeled turn should
be plugged into the slot labeled AILE. If you have a weapon, then that speed
controller should be plugged into the THRO slot, so that you can control it with
the throttle stick that stays in place on the radio.
If you have a weapon and a Sabertooth or RoboClaw speed controller, then the
red wire MUST be removed from the plug on the weapon speed controller. The
video contains instructions on how to do this. If you dont remove the red wire,
both the weapon speed controller and the drive speed controller will try to supply
the receiver with 5 volts. This function on the speed controllers is called a BEC,
or Battery Elimination Circuit, because there is no need for having another
battery to power the receiver. The result if you dont pull out the red wire is that
one, or both, of the speed controllers with be fried (it has happened to me).
On most speed controllers there is a screw terminal label B+ and B-. The power
wire should be put in the slot labeled B+, and the negative power wire should be
put in the B- slot. For the motors, the wires dont have to match with the labeling,
as long as both wires on motor 1 go to motor 1+ and 1 on the speed controller,
and vice versa for motor 2. The reason why + and dont matter, is because if it
is backwards, the motor will just go in reverse instead of forwards when you try to
drive forward. So, you have to try different arrangements until the motors behave
correctly. For help on troubleshooting this, look at the video. The video also
contains how to configure the DIP switch (the thing with a bunch of switches on
it).
There is a great video on binding the DX5e on Robot Market Place: Here

Step 12: Adding Weight


An easy way to add weight to get your robot closer to the weight limit is washers.
They can be bolted on to the armor, making them easily removable. If you have a

spinning weapon that is causing the robot to shake a lot, placing the weight by
the weapon will help the robot not shake as much.

Step 13: Losing Weight


One way to lose weight is replacing the armor with armor that weighs less. This
will work if you need to lose a lot of weight. But if you need to lose just a little
weight, you can drill holes in the base plate. Another alternative is to get lighter
parts.

Step 14: Rules


Most events use the RFL Tech Regs. These rules have parts that can be
changed, meaning most events will be close to the same rules, but not the exact
same rules. Such as the part that allows or doesnt allow fire. Make sure to check
the rules of the competition you are going to before registering.
Some things to make sure you have:
-Safety Pin
It must be capable of stopping your weapon. Usually it sticks through the weapon
or is in a position that the weapon will hit and stop. It is also supposed to be
painted a bright color
-Blocks
You are supposed to put something under your robot at competition to prevent it
from driving off by accident.
-Power Light
At competition you will need a light that comes on when your robot is powered
on. How to make a power light is covered in the wiring section.

Step 15: Tips


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1. Dont Give Up!!!


At times building a combat robot can be extremely frustrating, but if you just
stick with it, you will be able to finish. Also when you are finished you can brag to
all your friends about how awesome robot..
2. Draw it out
I highly suggest getting drafting software for your computer. If you are a student,
you can get Rhino for <$200. Trust me, it is worth every penny. It isnt just useful
for this project, but for just about any project. If you have it drawn out, it will be
much easier to build.
3. Mock it up
Make sure to mock up your robot with cardboard or wood before spending
money on more expensive materials, just to realize that your design wasnt quite
what you wanted. One thing that I learned from building my beetleweight, Titan, is
that you should draw every part out and mock every part up. The reason I say
this is because the problems I ran into were with the parts that I didnt draw out
and mock up, I just had their design in my head, big mistake. I would have saved
me a bunch of time to just draw it out and mock it up to work out all of the kinks
first, instead of trying to make it work on the final design.
4. Dont be afraid to ask questions
Leave your question as a comment on this instructable, or PM me if you dont
want others to know your plans. I will be more than happy to answer your
question, and I will usually answer within a day.
5. Have Spares!
You might think that your robot wont break, but trust me, something will break.
Often it is something you never thought of until it is broke and your robot cant
function without it. So before you pack up your stuff and travel halfway across the
country make/buy some spares.
For my first competition I travelled 8 hours, and if I hadnt decided to make some
spare shafts with the leftover rod I had, I would have ran out of shafts. In fact, I

had 4 shafts, and in my last match the fourth shaft broke. It may seem like a
waste to buy a bunch of spare electronic, but you can always use them on
another robot. It is also a good idea if you have more than one robot to try to
make them share parts, so you have to carry as many spares.
6. Buy a Scale
Accurate postal scales (<5lbs) are available for <$30. It will be very helpful in
staying under the weight limit.
7. Practice Driving
In Dave Calkins (founder of RoboGames) Guide to Winning, he stresses how
important it is to practice driving. I couldnt agree more. After I finished my robot, I
laid out a track with a lot of sharp twists and turns and started driving. At first I
couldnt stay within the lines at all, but after about 2 hours I was able to zip
through the course. I wish that I would have practiced more on a moving target,
because I still had a little trouble driving at the competition. You have to
remember, your competitor is trying to get in the perfect position to strike also, so
you have to be able to quickly maneuver to attack, and prevent form being
attacked.
8. Registration
To register for an event go to Builders Database.
9. Take pictures and videos at the competition
Be sure to get video of all your matches. It will be very helpful when
redesigning, because you can go back and see exactly what happened. When I
went to Mecha-Mayhem 2010, the one thing I wish I would have done more of is
take pictures. Now that I look at all the matches on video, I wish that I had
pictures of the damage to my robot (I repaired it between matches so the damage
isnt still there, except from the last match).

Step 16: Final Thoughts


I have learned a lot of what I know about combat robotics from the RioBotz
Tutorial. So, a big thanks to the people of RioBotz. I highly recommend checking

it out, because whenever I have a question about combat robots I grab the copy
of the RioBotz Tutorial I printed out and look it up.
Many people think that combat robots is a dying sport. I don't think that it is true,
because there is a lot of competitions in the US, and even a few in other
countries. It may not be focused on the heavyweight robots like it used to be, but
insect weight robots are very popular. In fact there are 10 plus events in the US
for insect weight robots.
You can look at my robotics website here: Titan Tech Robotics