← Atlas Rover Mk.1
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Machine-translated by Robotheca from the original in Chinese (opens in a new tab). License: MIT (opens in a new tab).
Atlas Rover Mk.1 V1.0 Assembly Simulation and Effect Verification
Overall Assessment
Based on the current V1.0 materials and structural design, it is possible to achieve a three-layer brass cage frame effect similar to the reference image: the bottom layer for battery and power, the middle layer for drive/expansion electronics, and the top layer for dual-eye display and interaction.
Acceptable differences include: the reference image resembles an industrial render, whereas the handmade version will show solder points, harnesses, and slight variations in module hole positions. Additionally, the Mk.1 uses four physical motors with left-right differential steering and does not implement four-wheel independent closed-loop control.
Assembly Simulation Check
| Layer/Function | Simulated Placement | Effect Assessment | Risks and Adjustments |
|---|---|---|---|
| Bottom Layer: Power and Movement | 18650 battery holder placed along the longitudinal center of the chassis, slightly rearward; four N20 motors positioned at the corners, with 3 mm D-shafts facing outward; four 64T gears of the same specifications and height. | Closer to the four-wheel posture in the reference image; the bottom layer battery lies flat, the four wheels surround the chassis, and a low center of gravity are all achievable. | Rigid four-wheel contact may increase steering friction; the diameters of the four wheels and the heights of the motors must be consistent. Limit steering to 20-35% PWM initially. |
| Middle Layer: Main Control and Expansion | Middle plate holds the XIAO chassis control board, front and rear DRV8833 motor drivers, a 5 V high-current boost module, and a wiring distribution point; brass middle-layer guardrail height is 42-48 mm. | Achieves the effect of exposed circuit boards and brass guardrails as shown in the reference image. | The chassis plate, two DRV8833 boards, and the boost module have inconsistent mounting holes; must drill holes according to the actual component layout. Avoid contact between module solder pads and brass. |
| Cockpit: Dual-Eye Display | The ESP32 dual-eye board is fixed to the upper layer of the front using M2 copper pillars; board width is 93.5 mm, allowing the front guardrail outer width to reach 100-104 mm. | Achieves the core visual of dual circular screens ("eyes") centered in the front. | The reference image’s 90 mm width should not be interpreted as the absolute limit of the entire vehicle; otherwise, the dual-eye board will not fit. The eye guard can only protect the outer edge and must not press against the touchscreen. |
| Front Lighting | WS2812B short LED strips are placed below the dual eyes and above the bumper; data is level-shifted via AHCT/HCT, and power is drawn from the 5 V rail. | Achieves the front blue-white light strip/status light effect shown in the reference image. | The main control board does not integrate vehicle lights; the backside of the LED board must be insulated. Limit brightness to 20-40% to avoid overloading the boost module. |
| Rear Sound | The small speaker is placed in the rear or inside the rear-side guardrail, connected to the ESP32’s onboard SPK+ / SPK- pins. | Approximates the circular speaker grille effect at the rear shown in the reference image. | No MAX98357A is required; do not connect either speaker terminal to GND. If the speaker diameter approaches 40 mm, the rear guardrail needs to be expanded outward. |
| Brass Aesthetics | 2.0 mm brass used for bottom frame, top frame, vertical posts, bumpers, wheel arches, and top handle; 1.5 mm brass used for eye guards, diagonal braces, lamp brackets, and speaker trim. | The visual style can approach the reference image: brass cage frame, dual-eye guards, top handle, and side wheel arches are all achievable. | The concept image is a rendered effect; hand-soldered joints may show slight asymmetry. Using paper templates and fixtures can significantly improve alignment. |
| Center of Gravity and Locomotion | Heavy components concentrated on the bottom layer: battery, motors, boost module; the dual-eye board and upper brass layer are relatively light. | Low-speed desk cruising is feasible; overall height is about 110 mm. | Avoid placing excessive weight on the top handle; for the first test run, use low PWM. If steering drag is severe, reduce friction on the anti-slip rings or shorten steering duration. |
Achievable Visual Features
- Dual circular-screen eyes: Achievable, the core board itself has dual 1.28-inch circular screens, with a width of 93.5 mm.
- Brass cage frame: Achievable, using 2.0 mm for the main frame and 1.5 mm for the eye guards and diagonal braces.
- Top handle: Achievable, a 2.0 mm brass rod bent into a U-shape around a 30-35 mm cylinder.
- Front light strip: Achievable, but requires an externally connected WS2812B light strip/ring, as the main control board does not integrate vehicle lights.
- Rear speaker: Achievable, requires an externally connected small speaker, as the main control board already has a power amplifier/speaker interface.
- Desktop patrol: Achievable at low speed, recommended N20 100 RPM, 150 RPM must be PWM-limited.
Points That Are Not Achievable or Not Recommended
- Independent closed-loop control for all four wheels is not recommended. The Mk.1 only implements differential control for the left and right sides using four physical motors, without adding encoders/IMU closed-loop control.
- It is not recommended to treat 90 mm as the maximum width of the entire vehicle. The official width of the dual-eye plate is 93.5 mm, so the front of the vehicle must allow for slight outward protrusion.
- It is not recommended to use the brass frame as the power ground. The brass is only used for structure and decoration; all power lines must be independently routed and insulated.
- It is not recommended to connect the battery, boost converter, lights, and motors all to the 3.3 V output of the main control board. Motors and lights should use an independent 5 V branch.
Pre-Assembly Positioning Drill
- First, print the baseplate template or draw it on paper, then place the battery holder, four N20 motors, two DRV8833 motor drivers, and the boost converter module to confirm they fit within the 120 × 90 mm chassis.
- Next, position the ESP32 dual-camera board at the front of the rover, verify that the maximum external width of 100–104 mm is acceptable, and mark the space required for USB-C plug insertion/removal.
- Use strips of paper to simulate the brass guardrails: base frame 120 × 90 mm, middle rail height 42–48 mm, and the dual-camera bracket height up to 110 mm.
- Temporarily secure the wiring harness with tape to confirm the battery can be removed, the tires do not rub against any wires, and the power switch can be toggled.
- After completing this drill, cut the brass rods; this prevents discovering that a module blocks an interface only after soldering everything in place.
Files by @davidwang960707-gpu, at commit 675d6f2, read from GitHub in your browser. Hardware license: MIT; software license: MIT. Robotheca doesn't review code: read it before running it.