Research Article
Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot
Table 2
Electrical components with specifications.
| | Component/model | Specs. | Remarks |
| | 4 × DC motors/WGM34 | No load RPM: 100; stall torque: 3.5 kg cm; rated voltage: 12 VDC; no load current: 0.08 A max | |
| | 2× Pololu DC motors/172 : 1 gear ratio | 25D × 56 L mm; no load RPM: 34 RPM; stall torque: 14.5 kg cm; rated voltage: 6 VDC; stall current: 2400 MA max | |
| | 4 × servo motors (SM1 and SM2)/Herkulex Drs-0201 | Operating angle: 320°; stall torque: 24 kg cm; rated voltage: 7.4 VDC | |
| | 1 × microcontroller | Arduino MEGA 2560 | |
| | 1 × Adafruit DC motor shield | L293D motor shield | |
| | 1 × Bluetooth module | HC-06, 2.4 GHz | |
| 4 × batteries (BT1~BT4):
BT1, BT2 (block-2); BT3 (block-1), BT4 (block-3), | BT1: 11.1 V Li-po with 1600 mAh (to power 6 DC motors and Arduino) | | | BT2: 7.4 V Li-Po with 2100 mAh (to power Herkulex: SM1, SM2) | | BT3: 7.4 V Li-Po with 2100 mAh (Ttzo power Herkulex: SM3) | | BT4: 7.4 V Li-Po with 2100 mAh (to power Herkulex: SM4) |
| | 1 × IMU | MPU-6050 6 DoF motion sensor | |
| | 3 × VL6180X, proximity sensor | Dia: 4.8 × 2.8 × 1.0 mm; range: 0 to 100 mm; 2.6 to 3.0 V; 1.7 mA | |
| | 1 × solid-state 2D lidar/LS02A (proposed) | FOV: 86°; distance accuracy: 1.5%; distance range: 0.1–4 m; scan freq.: 10 Hz; angular resolution: 1°/0.5° | |
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