Zumo 32U4 Robot (Assembled with 75:1 HP Motors)

The Zumo 32U4 is a highly integrated, user-programmable and customizable tracked robot. It measures less than 10 cm on each side and weighs approximately 275 g with batteries (170 g without), so it is both small enough and light enough to qualify for Mini-Sumo competitions, but its versatility makes it capable of much more than just robot sumo battles.

At the heart of the Zumo 32U4 is an ATmega32U4 AVR microcontroller from Microchip (formerly Atmel), the Zumo 32U4 features a USB interface and ships preloaded with an Arduino-compatible bootloader. A software add-on is available that makes it easy to program the robot from the Arduino environment, and we have Arduino libraries and example sketches to help get you started. A USB A to Micro-B cable (not included) is required for programming. For advanced users who want to customize or enhance their robots with additional peripherals, the robot’s power rails and microcontroller’s I/O lines can be accessed via 0.1?-spaced through-holes along the sides and front of the main board.

Assembled Zumo 32U4 robot, front view.

Assembled Zumo 32U4 robot, side view.

Assembled Zumo 32U4 robot, back view.

The Zumo 32U4 features two H-bridge motor drivers and a variety of integrated sensors, including a pair of quadrature encoders for closed-loop motor control, a complete inertial measurement unit (3-axis accelerometer, gyro, and magnetometer), five downward-facing reflectance sensors for line-following or edge-detection, and front- and side-facing proximity sensors for obstacle detection and ranging. Three on-board pushbuttons offer a convenient interface for user input, and an LCD, buzzer, and indicator LEDs allow the robot to provide feedback.

This version of the Zumo 32U4 robot (item #3126) ships fully assembled with a pair of 75:1 HP micro metal gearmotors (with extended motor shafts). As described above, two other assembled versions are also available, one with a higher gear ratio that is slower but can deliver more torque and one with a lower gear ratio that is faster but delivers less torque.

You can use the following table to compare these three gear ratios in more detail. 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 alkaline batteries; four NiMH AA cells will typically provide less than 5V.

Batteries (not included)

The Zumo 32U4 robot runs off of four AA batteries. It works with both alkaline and NiMH batteries, though we recommend using rechargeable AA NiMH cells.

Documents:

• Pololu Zumo 32U4 Robot User’s Guide (Printable PDF)
  • User’s manual for the Pololu Zumo 32U4 robot.
• Pololu A-Star 32U4 drivers for Windows (version 1.3.0.0)
  • This download contains the Windows drivers for the A-Star 32U4 and the rest of our 32U4 family of boards.
• Zumo 32U4 pinout diagram
  • Pinout diagram of the Zumo 32U4 main board.
• Zumo 32U4 schematic diagram
  • Schematic diagram of the Zumo 32U4 robot.
• 3D model of the assembled Zumo 32U4 Robot
  • This model uses simplified models of the control electronics to reduce the file size.
• Dimension diagram of the Zumo 32U4 Main Board
• Zumo 32U4 main board drill guide
  • This DXF drawing shows the locations of all of the board’s holes.
• Zumo 32U4 robot 3D model
  • Rotatable 3D model of an assembled Zumo 32U4 robot (Note: this file might not work properly with all pdf viewers.)
• Texas Instruments DRV8837/DRV8838 motor driver datasheet
• LSM303D datasheet Rotatable 3D model of an assembled Zumo 32U4 robot (Note: this file might not work properly with all pdf viewers.)
• Datasheet for the Sharp GP2S60 compact reflective photointerrupter Datasheet for the sensor used on the QTR-3RC and QTR-3A Reflectance Sensor Arrays, the Zumo 32U4 robot front sensor array, and the Optical Encoders for micro metal gearmotors.
• Vishay TSSP77038 IR receiver module datasheet
• TPS2113A datasheet Datasheet for the Texas Instruments TPS2113A autoswitching power mux.
• Zumo 32U4 Arduino libraryThe Zumo32U4 library for the Arduino IDE helps interface with the on-board hardware on the Zumo 32U4 robot.
• Zumo32U4 library documentation