Zumo 32U4 Robot (Assembled with 100:1 HP Motors)

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Pololu item #: 3127
Brand: Pololu
Status: Active and Preferred 
RoHS 3 compliant


The Pololu Zumo 32U4 robot is a versatile tracked robot based on the Arduino-compatible ATmega32U4 MCU. It includes two 100:1 HP micro metal gearmotors along with integrated dual motor drivers, an LCD, quadrature encoders, line sensors, side and front proximity sensors for detecting objects, and a full IMU for detecting impacts and tracking orientation. The low-profile robot is less than 10 cm × 10 cm—small enough to qualify for Mini Sumo. No soldering or assembly is required; just add 4 AA batteries and a USB cable and your Zumo is ready for programming.

Alternatives available with variations in these parameter(s): version Select variant…

Pictures

Assembled Zumo 32U4 robot.

Main features of the Zumo 32U4 robot.

Assembled Zumo 32U4 robot, top view.

Assembled Zumo 32U4 robot, bottom view.

Assembled Zumo 32U4 robot, front view.

Assembled Zumo 32U4 robot, side view.

Assembled Zumo 32U4 robot, back view.




Overview

New inertial sensors! As of 12 September 2020, we are transitioning to shipping our Zumo 32U4 kits and robots with the v1.1 version of the main board. The main difference is the new version replaces the Zumo 32U4’s inertial sensors with an LSM6DS33 accelerometer and gyro and an LIS3MDL magnetometer, as the LSM303D accelerometer and magnetometer used on the original revision has been discontinued. You can use our updated Zumo 32U4 Arduino library to help you write code that will work with the inertial sensors on either revision. For more information, see the user’s guide.

Please note that you might receive either version during this transition period. If you require a specific version, please contact us before you place your order.

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), and like our A-Star 32U4 programmable controllers, 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.

The Zumo 32U4 robot is available fully assembled with three different motor options (see the Motors section below for more information on how these different gear ratios perform):

The Zumo 32U4 robot is also available as a kit (without motors) for those who would prefer to assemble it themselves or who want to use different motors than those in the three assembled versions.

Details for item #3127

This version of the Zumo 32U4 robot (item #3127) ships fully assembled with a pair of 100:1 HP micro metal gearmotors (with extended motor shafts). As described above, two assembled versions are also available with lower gear ratios (so they are both faster but cannot deliver as much 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.

Micro Metal
Gearmotor
Free-Run Speed
@ 6V
Stall Torque
@ 6V
Stall Current
@ 6V
Top Zumo Speed
@ 6V and 500g
50:1 HP or 50:1 HPCB 625 RPM 15 oz·in 1600 mA 40 in/s (100 cm/s)
75:1 HP or 75:1 HPCB 400 RPM 22 oz·in 1600 mA 25 in/s (65 cm/s)
100:1 HP or 100:1 HPCB 320 RPM 30 oz·in 1600 mA 20 in/s (50 cm/s)

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.

Optional accessories

Zumo 32U4 robot with black sprockets.

Zumo 32U4 robot with red sprockets.

Zumo 32U4 robot with white sprockets.

Comparison with the Zumo robot kit for Arduino (with Zumo Shield)

Our older Zumo robot for Arduino, built with a Zumo Shield, is another Arduino-compatible robotic platform based on the Zumo chassis. The Zumo Shield mounts to the Zumo chassis and features motor drivers and various sensors, but it does not have an integrated microcontroller; rather, it is designed to interface with boards that have a standard Arduino form factor, like an Arduino Uno, Arduino Leonardo, or A-Star 32U4 Prime, and these boards serve as the main controller for the robot.

A Zumo 32U4 robot (left) and a Zumo robot for Arduino with an A-Star 32U4 Prime LV (right).

By contrast, the Zumo 32U4 includes an on-board ATmega32U4 microcontroller (the same one used in the Leonardo and A-Star 32U4 boards), combining the functions of the Zumo Shield and the separate Arduino controller into a single, compact board that is just as easy to program as a standard Arduino or A-Star thanks to its USB interface and preloaded Arduino-compatible bootloader. The Zumo 32U4 retains all the features of the Zumo shield (e.g. dual motor drivers, inertial sensors, and buzzer) while adding many new features, including dual quadrature encoders, proximity sensors, an LCD, and two extra user pushbuttons.

Some of the pin mappings and software libraries differ between the Zumo 32U4 and Zumo robot for Arduino, so programs written for one robot generally need to be modified to work on the other.

General specifications

Version: assembled with 100:1 HP motors

Documentation and other information

File downloads

Recommended links

Frequently-asked questions

Why are the accelerometer readings from my LSM303D stuck at an incorrect value?

We have noticed that the accelerometer in the LSM303D is particularly sensitive to brown-out conditions. If power is removed and the voltage on the 3.3 V power supply line falls significantly, but is not allowed to drop completely to 0 V, the accelerometer can be put into a bad state. When power is reapplied to the LSM303D, the accelerometer then returns readings on some or all axes that are large values and do not change much or at all. (We have often seen readings like -32760 and 24539.)

To prevent this problem from occurring, the voltage on the 3.3 V line must be allowed to fall to about 0 V when power is removed from the LSM303D. Depending on other loads and the amount of capacitance on the 3.3 V line, it can take up to several seconds for this to happen, meaning that you should avoid interrupting power to the LSM303D for any shorter period, and if such a short interruption does occur, you should remove power again for a longer period to allow the accelerometer to reset properly.

If the voltage takes too long to fall, you can add a resistor between 3.3 V and ground (a “bleeder resistor”) to discharge the 3.3 V line more quickly when power is removed. We suggest trying a resistor in the 1 kΩ to 10 kΩ range. (Note that a stronger bleeder resistor will cause the voltage to fall more quickly when power is removed, but it will also waste more power when the supply is present.)

The Zumo 32U4 includes a bleeder resistor on the 3.3 V line.

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