The first section of the robot that needs to be configured is the base plate. The base plate consists of two motors and their attached wheels, the caster wheels, and the base plate supports. The following image shows the top and bottom view of the base plate:
The base plate has a radius of 15 cm, and the motors and their attached wheels are mounted on the opposite sides of the plate by cutting two sections from the base plate. Two rubber caster wheels are mounted on opposite sides of the base plate to achieve a good balance and support for the robot. We can either choose ball caster wheels or rubber caster wheels for this robot. The wires of the two motors are taken to the top of the base plate through a hole in the center of the base plate. To extend the layers of the robot, we will put base plate supports...