ATUM UGV

Atum design utilizes driving symmetry to enable easy and effective exploration of narrow corridors leading to dead-ends. It employs a three part chassis, with all locomotion components contained in two identical front and rear frames. Atum construction is almost entirely out of aluminum to minimize weight. The center section can house an array of components including computers, primary electronics, and the power source. Each frame drives a pair of wheels and each wheel has a single gear motor providing drive torque. The single gear motor at each wheel guarantees that there is always traction, even if one wheel is not in contact with the ground. Atum utilizes skid-steering for direction control, an aspect particularly suitable in rough terrain driving similar to tracked vehicles. The unique set up of the vehicle allows it to perform 360 degrees rotation about its axis. Atum employs a body averaging suspension, which keeps the center section at half the roll angle between the front and rear frames. This allows for large wheel travel while traversing an obstacle and maintains overall system ground clearance. In addition the highly flexible suspension, allows the maximum amount of tire area to contact the ground, while keeping the robot as low as possible.

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The ATUM UGV characteristics can be summed up as follows: height: 0.51m, length: 0.75m, width: 0.58m, ground clearance: 0.22m, top speed: 3.2Km/h, mass: 18Kg, energy: 650 Wh.