Western Carolina University Kilobots

All the resources can be downloaded in a single zip file.
The version on Mar 6, 2017 with the Kilobots and the Overhead Controller (OHC) designs in PADS can be downloaded here.

The downloads of 3D-printed items can be also found at grabCAD.com by searching “Kilobot”: https://grabcad.com/library?utf8=%E2%9C%93&query=kilobot

The unverified version on May 12, 2020 with the Kilobots designs in Altium (OHC is identical from before and hence not included) can be downloaded here (It uses the same schedmatics as before with a similar layout, only spacing out the crowded components to some extent and converting the design from PADS to Altium. However, we have not built the Kilobots using it yet, and we assume no liability).

Planned updates are coming soon:

  • After the ambient light sensors are installed, the case needs to be taller than the original version to shut. The current case is for 10 kilobots, and we are designing a new case for 25 Kilobots. The Creo files are provided so you can revise the design to suit your need, too.
  • We are designing the new cases with metal plates built in at the top and the bottom of the cases so that the charging can be done with Kilobots stored in the cases.
  • The PADS files for PCB designs were originally done in PADS 9.5, although the latest version of PADS VX files are also provided, they are not as convenient to use. We plan to update them in Altium, which is perhaps the best PCB design software.

The contents in the zip file are explained below:

  • 3D Parts: all the parts are designed in Creo 2.0, and all the Creo source files as well as the stl files for direct 3D printing are provided.
      • Charger Cover, for the charger designed in house, which is explained more in its own folder.
      • Jig Assembly, to hold the PCB in place while soldering the components onto Kilobots. A stencil and a reflow oven will greatly expedite the building, but some parts still need to be soldered by hand, and the jig is very handy.

      • Kilobot Holder, or Stackable Storage Case of 10 Kilobots


      • OHC Stand. The over-head controller (OHC) could’ve been hung from the ceiling to cover the entire whiteboard surface, but if such installation is impossible, an OHC Stand can send the IR to cover the whiteboard sufficiently while freeing your hand.

  • Documentation: This folder includes the most original publications, such as Michael Rubenstein, Christian Ahler, and Radhika Nagpal’s IEEE ICRA 2012 Paper, the current Kilobotics documentation, and our latest papers.
  • Kilobot Charger. This charger we built is rated at 5A to charge 50 Kilobots simultaneously. The bill of materials (BOM) has listed all the required components. The PADS files, the generated CAM files, and the PCB Layout as well as Schematics have all been included.
  • Kilobots: The main changes from the original Harvard design include layout, a few clarifications, and an updated BOM. The schematics are re-plotted to be easy to read, but without fundamental changes. Please read our papers to get more details.
  • OHC: The overhead controller is essentially the same as the Harvard design. The BOM is updated and all the files are provided.
  • Software: The drivers, the source files for updated distance calibration, and the generated hex files are provided. Note that the hex files could be corrupted during uploading/downloading, so please feel free to use the source files to regenerate them.