The
Trak-Bot-C3
(TB-C3)
is
one
of
two
indoor
elastomer
tracked
vehicle
used
to
explore,
concept
test
and
demonstrate
autonomous
motion.
The
unit
is
based
on
Altera’s
Cyclone™
III
FPGA
(allows
for
fixed
coding
of
motion
or
32-bit
processor
based)
with
dual
motors,
H-bridges,
accelerometer,
gyro,
compass
and
expansion
headers
supporting
this
core.
The
chassis
is
constructed
of
ABS
plastic,
which
allows
for
customization
such
as
screw
on
attachments
and
custom
painting.
The
drive
system
was
created
to
appear
and
perform
like
larger
scaled
tracked
vehicles.
The
tracks
are
of
an
elastomer
material
so
as
not
to
mar
surfaces
and
have
a
modicum
of
traction.
Like
larger
versions
of
tracked
units,
the
drive
wheel
is
a
toothed
gear
balanced
with
the
front
line
wheel,
road
wheels
and
track
idlers.
There
are
gearbox
and
motor
combination
per
track.
This
is
a
deviation
most
large
scale
tracked
equipment
which
use
a
single
engine
with
an
splitting differential/transmission system.
The
Trak-Bot
base
unit
comes
with
all
the
drive
components
and
built
in
battery
holder.
The
power
system
is
a
single
rechargeable
battery group. The battery system is kept internal allowing for a completely clean upper deck.
The
cLS-TB-C3
controller
card
contains
an
Altera
Cyclone™
III,
EP3C5,
field
programmable
gate
array
(FPGA).
This
Cyclone™
III
contains
5,136
Logic
Elements
and
414kbits
of
SRAM.
The
configuration
Serial
EPROM
(64Mbit)
is
used
for
the
FPGA
configuration
and
processor
code.
The
dual
discrete
level
motor
H-Bridges
are
capable
of
2.5A
continuous
with
an
8-bit
ADC
available
for
bridge
current
monitoring.
Rounding
out
the
major
features
is
a
3-axis
accelerometer
interfaced
to
the
Cyclone™
III
via
an
SPI
buss.
An
article
on
this
unit
and
project development can be found at ED Online 18446 (Electronic Design 03-27-08).
The
cLS-TB-Universal
controller
card
contains
the
dual
discrete
level
motor
H-Bridges
that
are
capable
of
2.5A
continuous.
Rounding
out
the
major
features
is
a
3-axis
accelerometer,
3-axis
gyro
and
compass.
Plug-in
area
for
processor
of
choice
is
the
final
feature.
Board
ships with a FRDM-KL25Z (Freedom Board) from Freescale Semiconductor.
The
user’s
imagination
is
the
only
real
limitation
to
what
either
control
card
can
do.
Optional
add-ons
increase
the
potential
exponentially.
Physical Characteristics:
Overall length – 8.25”
Overall Height – 2.50” (To top of mounting deck)
Mounting deck width – 5.0”
Track width center line – 3.50”
c-Link Systems, Inc. Copyright 2010. 2013, 2014, 2016
Trak-Bot
