Building the Romi Robot
The Romi chassis (Figure 6.2) is a differential-drive mobile robot platform with a diameter of 6.5" (165 mm) and an integrated battery holder for six AA batteries. The drive wheels are located on a diameter of the circular base plate, allowing for turns or spinning in place. A large, fixed ball caster in the rear provides a smooth third point of contact and a second ball caster can be optionally added to the front.
The Romi chassis has plenty of general-purpose mounting holes and slots intended for various screw sizes, such as #2-56, #4-40, M2, and M3. These holes can be used for mounting your electronics, such as your microcontroller, motor drivers, and sensors:
Figure 6.2: The Romi Chassis Kit -Black. Image courtesy of Pololu—https://www.pololu.com
The Romi chassis kit (Figure 6.2) comes with the following things and requires assembly:
- One black Romi chassis base plate with battery cover
- Two mini plastic gearmotors (120:1 HP with offset output and extended motor shaft...
