• Four AA batteries. The robot works with both alkaline and NiMH
batteries, though we recommend using rechargeable
AA NiMH cells
[https://www.pololu.com/product/1003]
.
•
USB A to Micro-B cable
[https://www.pololu.com/product/2072]
to
connect the robot to your computer for programming and debugging.
• Small 2 mm slotted screwdriver for adjusting the LCD contrast.
In addition, the
kit version
of the robot requires:
• Two micro metal gearmotors with extended motor shafts (see
below).
Kit motor selection
The kit version of the Zumo 32U4 robot requires the addition of
two (2)
micro metal gearmotors
with extended motor shafts
, one for each
tread.
The ideal motors for your robot depend on your desired torque, speed,
and current draw. We generally recommend using HP versions of our
micro metal gearmotors since the tracks require a decent amount of
torque to move effectively; higher gear ratios of the non-HP motors
might work if you want lower current draw, but they will be slower and
offer less control.
If you are unsure which motors to choose, we recommend getting
two
of the
75:1 Micro Metal Gearmotor
HP with Extended Motor Shaft
[https://www.pololu.com/product/2215]
, which offer a good balance of performance
characteristics, and most of our example code was developed and tested with these motors.
50:1 HP
[https://www.pololu.com/product/2213]
and
100:1 HP
[https://www.pololu.com/product/2215]
motors also generally work
well. These three motor types are the ones we offer in assembled Zumo 32U4 robots.
The following table summarizes the key specifications of the recommended 50:1 HP, 75:1 HP, and 100:1
HP motors. The first four columns are specifications of the motors themselves, while the last column is the
measured top speed of a Zumo chassis loaded to a weight of 500 g and driven with these motors. Note that the
specifications are for 6V operation, which is approximately the voltage you would get with four fresh alkaline
batteries; four NiMH AA cells will typically provide less than 5V.
Micro Metal
Gearmotor
Free-Run Speed
@ 6V
Stall Torque
@ 6V
Stall Current
@ 6V
Top Zumo Speed
@ 6V and 500g
50:1 HP
625 RPM
15 oz·in
1600 mA 40 in/s (100 cm/s)
75:1 HP
400 RPM
22 oz·in
1600 mA 25 in/s
(65 cm/s)
100:1 HP
320 RPM
30 oz·in
1600 mA 20 in/s
(50 cm/s)
For more options, you can see our other
micro metal gearmotors with extended motor shafts
[https://www.pololu.com/category/141/micro-metal-gearmotors-with-extended-motor-shafts]
. Be sure to pick a motor that has
an extended shaft, or else you will not be able to use the encoders on the Zumo 32U4.
Pololu Zumo 32U4 Robot User’s Guide
© 2001–2015 Pololu Corporation
1. Overview
Page 9 of 76