Delivery Robot Chassis

Drive System: Differential drive (left and right sides independently driven). Overall Length: 300 mm. Overall Width: 220 mm. Wheel Base (front to rear axle center): 150 mm. Ground Clearance: 25 mm. Chassis Material: Two-layer aluminium plate construction. Bottom chassis plate thickness: 2.0 mm. Top plate thickness: 2.0 mm. Standoff height between plates: 45 mm (use M3 standoffs). Tolerance: ±1 mm (concept stage). Payload Capacity: Approximately 5 kg. Drive & Wheel Layout (Top View) Four-wheel configuration with one motor per corner. Motors: Four Johnson 12V 100RPM DC motors (Front-Left, Front-Right, Rear-Left, Rear-Right). Mount each motor at the four corners of the bottom chassis plate with the motor shafts facing outward. Wheels: Four wheels, each 65 mm diameter, mounted directly to the motor shafts. Ensure adequate cutouts and clearance on the chassis plate for motor bodies and wheel rotation. Electronics Placement Motor Driver: One Cytron 10A motor driver mounted at the rear center of the bottom chassis plate, between the rear motors. Microcontroller: One ESP32 development board mounted at the rear center of the bottom chassis plate, adjacent to the Cytron driver. Battery: One 3S1P 18650 lithium battery pack with BMS mounted at the center-low position on the bottom chassis plate, oriented lengthwise. GPS Module: Mounted at the top rear center of the top plate. Compass Module: Mounted on the top plate at the rear center, positioned away from the motors to avoid magnetic interference, below the GPS module. Ultrasonic Sensors: Three HC-SR04 sensors (US-L, US-C, US-R) mounted at the front edge of the top plate, evenly spaced across the front width. IR Cliff Sensors: Two infrared cliff sensors (IR-L, IR-R) mounted at the bottom front of the chassis, facing downward, positioned near the front-left and front-right corners. Delivery Basket Position: Centered on the top plate. Internal Dimensions: Approximately 160 mm (length) × 120 mm (width) × 60 mm (height). The basket should be represented as a hollow rectangular container sitting on the top plate. Mounting & Assembly Details All electronics mounting holes should be shown as reference; use M3 screws and standoffs for mounting. Maintain wiring clearance channels between the two plates. Ensure motor mounting brackets are integrated at the four corners. Required Views / Deliverables Generate a parametric model showing: Top View: Full layout with all components positioned as described. Side View (Left View): Showing the two-plate stacked structure, 25 mm ground clearance, 45 mm standoff gap, motor and wheel profile, battery height, and basket sitting on top. Total approximate height ~145 mm. Front View: Showing the 220 mm overall width, three ultrasonic sensors across the front face, basket height, and wheel positions.

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