Sinan Paşa Mini Sumo Robot Series (Version 1-2-3)

Hi, I will share informations about my mini-sumo robots which are called “Sinan Paşa”. “Sinan Paşa V1” was so precious for me, because it was my first robot. Before I started to build my robot, I researched about robots, watched a few videos about mini-sumo robots, and read about them.

Firstly, I designed the mechanical chassis. I pondered on frontside and I decided to design it like a ramp. I created the steel heavy frontpart on a fraise machine. I build the chassis myself, and I created the brass wheels on a lathe.

I gained a lot of experience while I was creating this robot. Because of creating mechanical section before the electronic circuit, I had a problem about placing all parts as I imagine. I planned the motors to be on the chassis but there was a problem with the frontpart so I had to put them under the chassis. I cut negative and positive poles of the LiPo battery that I used at the same moment and I had a party with fireworks. 🙂 I learnt that the battery needn’t have a high ampere.

This time I used MC33926 as Motor Driver and 16F876A as microcontroller. Also I changed the voltage regulator which goes to motors according to tactics in the program.

I used GP2Y0D340K – Sharp sensors. I think Sharp340K’s are the best ideal sensors for mini-sumo robots because it takes up small space and it’s digital. This is why I prefer it.

A year later, I decided to build “Sinan Paşa V3”. I took a month to finish it. This time I concentrated on the mechanic section. It has the same electronic circuit with “Sinan Paşa V1”. With only difference LM317T on the “Sinan Paşa V3”

%60 of the total weight was on the front and %40 was on the back. It was nearly 500 gram. I used SLT20P as wheels. It is the best wheel I have been used so far. Because of wheel’s weight, I gained maximum impact.

Robot took 5th place at the MEB Robot Competition which is organised in Turkey. I was eliminated on the last match because of broken motor-holder. Bad luck.. 🙁

Here, you can find Sample program of a mini-sumo

#include <16f628a.h>
#fuses HS,NOWDT
#use delay (clock=20000000)
#byte port_a=5
#byte port_b=6
#bit solda=6.7
#bit sagda=6.0
int sensor,i;

main(){
set_tris_a(0x00);
set_tris_b(0xff);
port_a=(0x00);

while(1){
if (solda==0) {delay_ms(5000); port_a=(0x06); break;}
if (sagda==0) {delay_ms(5000); port_a=(0x09); break;}
}

while(1){

sensor=port_b&0x1f;

switch(sensor){
case 24: port_a=0x09; break; //competitor on right side
case 16: port_a=0x09; break; // competitor on right side and middle side
case 12: port_a=0x06; break; // competitor on left side
case 4: port_a=0x06; break; // competitor on left side and middle side
case 20: port_a=0x05; break; // competitor on middle side
case 0: port_a=0x05; break; // competitor left middle right
}
}
}

I hope you would like it. If you have any questions, please add your thoughts to comments. I will try to answer.

Mehmet Murat Yılmaz – May 2015