Treaded All Terrain HD2 Robot Support Page

See our prepackaged ATR Kits or
Contact Us for a custom designed/built special purpose ATR

HD2 Robot with WiFi Control and 30x PTZ Camera

HD2-S Remote Surveillance Treaded Robot

HD2 Treaded ATR Tank Robot Kit

	PDF Datasheet of the HD2 Treaded robot with common control and camera options
	PDF Datasheet of the HD2 Remote Surveillance Package

The HD2 Treaded robot's wheels are supported with inner and outer race sealed ball bearings (the wheels are not cantilevered or direct driven from the motor shaft). Each wheel is driven with a powerful IG52 gear motor with heavy duty #35 chain. The chassis is made from aircraft grade aluminum. The design uses all laser cut parts with mortise and tenon design for precise alignment and mating of the parts. The frame is ribbed and gusseted making it very rigid. We weld all the aluminum together using TIG and MIG for a solid chassis. The robot is sealed and can be made water tight. The treads and four powerful motors allow this robot to ascend and descend stairs.

The robot is completely symmetric and invertible. The robot can be driven by a simple RC system, one of our custom controllers, or a PC (such as a portable laptop as pictured to the left). The robot has the ability to climb stairs and go over most terrain. It is about 38 inches long and 20 inches wide by about 9 1/2" high (tread height). There is a very large center cavity for batteries, electronics, cameras, computers, etc. As a standard option we also offer a chassis that is 6 inches wider (~26inches wide). The Standard Chassis is much better suited for fitting trough doors, etc, but if you have a lot of equipment you need to mount on or in the chassis a wider frame can be used. The picture on the right shows two standard width chassis and two wide chassis. The motors are half inside the tread and protrude halfway into the center cavity. The bottom cover is flanged and all the holes are laser cut and then hand tapped for a perfect fit and seal. The robot is currently geared with a 1:3 reduction (gear motor to drive wheels). Custom gearing can be requested, usually without a price impact.

The OD of the wheels with the tread is about 9.4 inches, so with the recommended 290 RPM powerful IG52 gear motors ground speed is about 4 ft/sec. Different gear motors can be selected in the options section. The robot weighs around 60 pounds without batteries, etc. Its capable of carrying another 40+ lbs. With four 4000mAHr NiMH batteries, the robot handles of weight without issues.�� The robot itself will be designed to carry even more weight, but since its skid steering, turning in deep grass, carpet etc will be difficult with very heavy loads. You should opt for the 103 RPM IG52 gear motors if you are going to load it up to more the 100 lbs gross weight.

The multi-ply treads have an aggressive black rubber all-terrain 4" wide pattern. The treads come standard with internal cleats every 3 inches. These are hand attached in a jig we have. If you desire there is an option for internal cleats every 1.5" which yield better strength and tracking. Either way we assemble the treads for you, so all you have to do is put it around the wheels and tighten it. A full manual will be included with the robot for assembly.

View a SolidWorks EDrawing to see a 3D image of the robot. We have the bottom cover hidden so the internal cavity of the robot can be viewed. You can manipulate the model and see all the pieces from every orientation. A simple way to see all the views is to hit play and it will automatically rotate the robot around for you so you can see all the views. Please note our models are done to a level of completion to get the parts made and metal cut. We do not waist our time showing hardware, bearings, and other useless frill... (The standard HD2 now has 2 more inches inside room making it 20 inches wide; This model shows an 18 inch wide chassis)

• Solidworks Free Viewer Download Link.
• HD2 Treaded Robot Platform EDrawings (187kb zip file)

The IG52 motors draw a lot of current so at least 8000mAhrs @ 24VDC should be used. NiMH batteries can be run in parallel, but should be charged individually. See schematic for recommended wiring. As an option for controlling the batteries we offer a offer a power distribution board for the 24VDC system. This board allows you to switch between batteries with TTL signals and monitors your current. See item for more detail. An HD2 tank with the weight of 4 NiMH 4000mAhr batteries has the following approximate current draw:

• 3-5 Amps per side going straight and flat
• 8-10 Amps per side climbing stairs
• 18-22 Amps per side pivot turning in thick grass
• 8-10 Amps per side pivot turning on concrete

We recommend getting the battery mount(s). One battery mount will hold 2 24V 10000 mAHr NiMH Battery Packs. Click on this image to the right to see a picture of a battery mount. The image is in a standard width Chassis and 2 battery packs are mounted on each side of the chassis for a total of 4 packs (16 Amp/hrs).

18 inch wide HD2 with MD03 Motor controllers and 4 4000 AhHr NiMH Battery Packs.(The standard HD2 now has 2 more inches inside room making it 20 inches wide)	18 inch wide HD2 with RC receiver and 4 relay board. (The standard HD2 now has 2 more inches inside room making it 20 inches wide)
26 inch wide HD2 with MD03s, custom robot controller and WiFi Bridge/control system	26 inch wide HD2 with MD03s, custom robot controller, and motor encoders.