Xl-320 Servo Motor

We used three Xl-320 servo motors in our robot , two for our grippers and one for our injured separator, we could use a lots of different models of servo motors that were even better, but they were much more expensive and they weren't in Iran and buying them was hard for us. this model has six pins: two VDD , two GND and two data pins, it has two pins from each of them because all Dynamixel models can connect to each other and create a servo motor chains, this can be doable with Roboplus application.

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L1990 Motor

We used four L1990 motor for our four wheels in our robot to move , you may ask your self why didn't we used different models like Namiki motor , HV155 , etc , because they aren't as powerful as L1990 motor. L1990 is a dc motor with gearbox and Asar Hall encoder , this type of encoder works with magnetic force.

Wheels

As u can see in the picture our wheels aren't just one , their two wheels connected to each other so our robot will have more friction on the ramps We made a lots of wheels with different designs and at the end we made this one that is the best design in our opinion. This wheel that you can see is designed in solidworks application to find out more about it you can checkout our solidworks blog .

Victim's Separator

To separate the victims , we used a XL-320 and a part that we printed with 3D-Printer , we had a lots of other options to separate the victims but this was the best option in our idea. When the robot catch's the victims it detects that the victim is alive or dead using its grippers , it tests the conductivity of the victims and detects their types.

Pishnam Mechanic