Zumo 2040 Robot (Assembled with 100:1 HP Motors)

The Zumo 2040 is a highly integrated, user-programmable and customizable tracked robot. It measures less than 10 cm on each side and weighs approximately 275 g with batteries (160 g without), so it is both small enough and light enough to qualify for Mini-Sumo competitions, but its versatility makes it capable of much more than just robot sumo battles.

At the heart of the Zumo 2040 is a Raspberry Pi RP2040 microcontroller (like the one on the Raspberry Pi Pico), a 32-bit dual-core Arm Cortex-M0+ processor running at 125 MHz, which can be programmed with C, C++, Arduino, or Python. The Zumo 2040 has 16 MB (128 Mbit) of flash memory that ships preloaded with a MicroPython interpreter, so you can get started right away by plugging into its USB-C port and editing the included example Python programs. For advanced users who want to customize or enhance their robots with additional peripherals, the robot’s power rails and microcontroller’s I/O lines can be accessed via 0.1"-spaced through-holes along the sides and front of the main board. A 4-pin JST SH-compatible connector provides access to the RP2040’s I2C0 bus and can be used with many Sparkfun Qwiic and Adafruit STEMMA QT devices.

Assembled Zumo 2040 robot, front view.

Assembled Zumo 2040 robot, side view.

Assembled Zumo 2040 robot, back view.

The Zumo 2040 features two H-bridge motor drivers and a variety of integrated sensors, including a pair of quadrature encoders for closed-loop motor control, a complete inertial measurement unit (3-axis accelerometer, gyro, and magnetometer), five downward-facing reflectance sensors for line-following or edge-detection, and front- and side-facing proximity sensors for obstacle detection and ranging. Three on-board pushbuttons offer a convenient interface for user input, and a 128×64 graphical OLED display, buzzer, and six RGB LEDs allow the robot to provide feedback.

Zumo 2040 Robot features, top view.

Zumo 2040 Robot features, bottom view.

The Zumo 2040 robot is available fully assembled with three different motor options (see the Motors section below for more information on how these different gear ratios perform):

• Assembled with 50:1 HP motors — highest speed and lowest torque of the three options
• Assembled with 75:1 HP motors — average speed and torque
• Assembled with 100:1 HP motors — highest torque and lowest speed

The Zumo 2040 robot is also available as a kit (without motors) for those who would prefer to assemble it themselves or who want to use different motors than those in the three assembled versions.

Details for item #5013

This version of the Zumo 2040 robot (item #5013) ships fully assembled with a pair of 100:1 HP micro metal gearmotors (with extended motor shafts). As described above, two assembled versions are also available with lower gear ratios ( so Pololu are both faster but cannot deliver as much torque).

Assembled Zumo 2040 robot.

You can use the following table to compare these three gear ratios in more detail. The first four columns are specifications of the motors themselves, while the last column is the measured top speed of a Zumo chassis loaded to a weight of 500 g (i.e. the maximum allowed for Mini Sumo) and driven with these motors. Note that the specifications are for 6V operation, which is approximately the voltage you would get with four alkaline batteries; four NiMH AA cells will typically provide less than 5V.

Batteries (not included)

The Zumo robot runs off of four AA batteries. It works with both alkaline and NiMH batteries, though Pololu recommend using rechargeable AA NiMH cells.

Optional accessories

• Even more sensors
• Connectors (headers, jumper wires, etc) for adding those sensors or other peripherals
• Tools (diagonal cutters, pliers, screwdrivers, etc) to help with kit assembly
• Replacement sprockets in red or white. The Zumo 2040 robot includes black sprockets, but other colors can be purchased separately if you want to add a bit of personalization to your robot. (The pictures below show how these sprockets look on the similar Zumo 32U4 robot.)

Zumo 32U4 robot with black sprockets.

Zumo 32U4 robot with red sprockets.

Zumo 32U4 robot with white sprockets.

Dimensions

General specifications

Identifying markings

Notes:

1

Assembled robot without batteries.

Documentation and other information

• 

  Pololu Zumo 2040 User’s Guide

  User’s manual for the Pololu Zumo 2040 robot.

File downloads

• Pinout diagram of the Zumo 2040 main board (1MB pdf)

• Schematic diagram of the Zumo 2040 main board and front sensor array (369k pdf)

• Dimension diagram of the Zumo 2040 Robot (1MB pdf)

• 3D model of the assembled Zumo 2040 Robot (42MB step)

  This model uses simplified models of the control electronics to reduce the file size. More detailed models are available separately of the Zumo 2040 main board (23MB step) and Zumo 32U4 front sensor array (6MB step).

• Dimension diagram of the Zumo 2040 Main Board (2MB pdf)

• Drill guide for the Zumo 2040 Main Board (89k dxf)

  This DXF drawing shows the locations of all of the board’s holes.

Recommended links

• Zumo 2040 Robot Libraries and Example Code

  This repository contains libraries and example code for the Pololu Zumo 2040 Robot in MicroPython and C.