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

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.

Let's start with a video and later I will explain.

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.

Sinan Paşa Mini Sumo Robot Version 1 - First Project

At design I used solidworks. After the mechanical section was done; I started to design electronic section. I used Sharp340K as sensor, 16F84 as microcontroller, L298P as driver, and 1A 7.4V LiPo Battery

Sharp GP2Y0D340K Sensors Carrier Board

Mainboard of mini sumo Sinan Paşa Ver.1

SMD to DIP Converter Board for L298P Dual Motor Driver IC


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.

Version 2 - More Technical!

I designed my next robot “Sinan Paşa V2” for 2-3 weeks. I designed it with my experiences that I gained from my first robot. I finished the electronic circuit with the help of my venerable teacher Abdurrahman KAVUN. I bought a new 500mAh LiPo battery so I gained a lot of space.

Sharp GP2Y0D340K Sensors Carrier Board

Sinan Paşa Ver.2

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.

Version 3 - The Last!

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;


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



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


  1. Reply

    I just started building sumo robots, not complex like yours but simple ones. You are going great job by sharing all these projects with us. It’s great help to many students like me. Thank you.

  2. Reply

    This is so complex that i wish that i’m the one that build it. I will like to learn from you. I have passion for this..

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