During ULTRON's design phase, a hand-drawn sketch was created to outline the essential components of the robot. The Raspberry Pi 3 B+ and Arduino Mega Rev 2560 were chosen as the main components, setting the project's initial limitations. While the sensors and controller modules will significantly enhance the robot, the core system is already defined. With this foundation established, the focus can now shift to constructing the physical chassis for ULTRON. Six pieces were 3D printed for this project using the Pulse XE 3D printer from MatterHacker.

To acquire the necessary skills for designing the mechanical chassis of my robot, I referred to a YouTube tutorial titled "How to Design a Robot in FUSION 360 for ROS Simulation || Beginner Tutorial - Autodesk Fusion 360" by Pranshu Tople. After successfully replicating the robot in Fusion 360, I applied similar techniques to create ULTRON.

ULTRON's STL File(s):

• 1x chassis_top
• 1x chassis_bottom
• 2x 120rpm_greartisan_motor_support_L
• 2x 120rpm_greartisan_motor_support_R
• 6x hexconnector

Note: The hexconnectors are not accurate in size and are meant to replicate the real hexconnectors.

When working on similar UGV projects, I recommend selecting the motors beforehand. Having them on hand is convenient but you can still work with the motor's dimensions outlined in the datasheet. For ULTRON, I chose the 12V 120RPM Greartisan gear motors and found a suitable 3D model on GrabCAD.

GrabCad STL File(s):

• 4x 12V Greartisan Gear Motor
• 1x Raspberry Pi 3 B+
• 1x Arduino Mega REV 2560

ULTRON's chassis frame was designed using Autodesk Fusion 360; here is a rendered representation.