See photos at
I have decided to stick with the smaller robots, and would like to see this go to a good home. I am currently running this 2wd but the sprockets are already on the wheels for 4wd. I weigh over 200lbs and this thing carried me up a moderately sloped driveway! It could easily be geared up for more speed, but it travels at about a walking speed now (and barely slows when I climb on). The frame is welded from 2" aluminum square tube with a 1/16" Al bottom riveted on. The axles are 3/4" turned down to 5/8" for the wheels at the ends.
I got the motors on Ebay a couple of weeks ago. They are Everest & Jennings RAE wheelchair motors. They pull 2A each at no load and under heavy load (trying to stop the wheels with my hands) they pulled about 15A before my power supply overloaded. If you are interested I can measure the stall torque. Motors like these sell for $180 each as surplus. These are in great condition.
The PC-104 SBC is a P5e from AMPRO and I spent numerous hours finding a distribution of Linux that would install on the Flash Drive. The development kit includes a case, power supply, connectors, and backplane for standard ISA cards (needed for the video card, but run w/o video on the bot). The computer is set up to be run through a monitor and keyboard, or remove them (still boots fine!) and you can log in as root through a serial terminal! I have installed GCC so you do not need another PC for editing and compiling the program. I have also written a c-language program to exercise the Icon H-bridges . I have sold the development kit on Ebay for ~$250. The H-bridges are worth $350 if bought separately(see
The batteries are from an old UPS and will add to the shipping costs. I would recommend getting new ones and not shipping these, but if you want them they are yours.
I am asking $750 for the whole lot. If I don't get an offer here I will list the parts separately on Ebay. Please feel free to email me with questions.
Jeff Kroll protaganistusATyahooDOTcom