Robot remote controlled.doc

(8056 KB) Pobierz

Runs around remote controlled

MDi #3 means Mech-Dickel interactive number 3. Well, it's not going to be something so interactive like Jarvis, but I hope I'll have much fun with it.On the process of planning and building this project certainly I was very influenced by Johnny 5 and Wall-E. Actually at this time I can't imagine a better look for a friendly interactive robot. This robot is going to be able to run around autonomously (with some sensors) and also will have a remote controlled method.

At this moment the mechanical part is almost done. The most of the parts are made at home by myself using polystyrene, and you can see how I made my custom parts on this walkthrough I did some time ago, that uses the toner transfer method.

Toner transfer method X Water based glue method

The toner transfer method is used commonly to make quickly PCBs, and I've adapted the method to use with polystyrene. Since my first robotic project with polystyrene I'm using this method, that provides us a good precision to make the cuts. I utilize this method to make small pieces, where the hot iron can reach the whole piece. For bigger pieces (for example, the chassis part), that don't need much precision and don't have much tiny details, I just glue the template over the polystyrene sheet and then realize the cuts and holes. Using the toner transfer method in a bigger piece can result in a bad looking, because the hot iron can't cover the whole piece, leaving a hot section and other cold, and the piece will end up getting wavy.

So, toner transfer method is good for small pieces with many details and water based glue method is better for huge pieces with less details.

The conception of the parts

Commonly I start up with a brainstorming and make some sketches till I get something satisfactory. Sometimes the SketchUp helps me to take a good perception of complex parts. Below you see on the pictures some parts from design to the manufacturing.

Besides polystyrene, the main part of the torso is made out of a 75mm PVC pipe.

This part is used to attach the chassis to the aluminum bracket of the tank treads.

Maybe the part that I've dedicated more time to design, the head have many friendly appeal features, and I think in an interactive robot it couldn't be different. To get this look I changed the design a few times, and ended up influenced by the Lego EV3 ultrasonic sensor.

On the inside of the eye there are grooves for 4 X 3mm leds.

Here you see all the homemade parts of the project done, except for the torso and the electronics bag, that at moment of the picture was taken was waiting for the paint to dry. Here you see about five months of hand work. :)

All the parts are made out polystyrene sheets and PVC pipes, except for the two at the bottom of the picture (the tank treads bracket), made out of an aluminum channel.

The small parts was painted with matte black, and the bigger/main parts (chassis, electronics bag, torso and his interconnector bracket and the head) was painted with a technique highly inspired by what lumi did on the Steampunk Goggles.

For the main parts, first I've painted with silver spray painting and then passed with the brush to make some roughness. After the paint was dry, painting it again a bit with matte black. After, scuffed it a bit. I finished with clear lacquer.

List of mechanical items:

· 1 X Vex tank tread kit;

· 2 X RC car shock absorber;

· 1 X shaft coupling motor connector;

· 4 X curved steering linkage head;

· 6 X L aluminum bracket;

· 3 X aluminum servo bracket;

· 2 X aluminum motor hub;

· 2 X DC 5V motor with gearbox;

· 1 X ServoCity load bearing servo block (Hitec);

· 1 X Tower Pro MG995 servo;

· 1 X Hitec HS-645MG servo;

· 2 X Hitec HS-5245MG servo;

· 3 X Hitec HS-225MG servo;

· 3 X Hitec HS-82MG servo;

· 3 X Hitec HS-81 servo;

· 9 X Lynxmotion (Hitec) spline metal servo horn;

· Ultrasonic sensor mounting bracket;

· Many many screws, nuts, washers.

MDi #3 templates

If someone want to reproduce this project, or even just some parts, here (https://drive.google.com/folderview?id=0B2gOXfxaf2xjdld0SWV3VDd6M2c&usp=drive_web) is a folder created on Google Drive where I'm sharing the templates for many parts.

To print it in real size I just paste the image file in a text editor and adjust the document to be borderless, than print it in A4 paper sheet (210 X 297 mm).

The brain of MDi #3 is an Arduino Mega2560, that receives inputs from all the sensors and the remote control and also controls the servos and the DC motors (with a L298N).

List of electronic items:

· 1 X Arduino Mega2560;

· 1 X L298N breakout;

· 1 X PlayStation 2 wirelles controller and receiver;

· 1 X small speaker;

· 2 X Ultrasonic Range Finder Maxbotix LV-EZ01;

· 1 X HC-SR04 ultrasonic sensor;

· 2 X PIR sensor;

· 2 X 5XAA battery holder;

· 1 X LCD 16X2 display;

· 1 X power switch;

· 2 X 10 segment LED bargraph;

· 1 X LM3914 IC;

· 3 X 2000 mAh LiPo battery;

· 10 X AA NiHM 2500 mAh battery;

· Some LEDs and resistors;

· Many many jumper wires and servo extension cables.

PlayStation 2 controller

Since my first robotic creation I'm using this joystick to control my projects. It's a cheap controller, easy to interface and have much info about Arduino + PlayStation 2 controller on the web. I'm using the library for Arduino made by Bill Porter. On his page have much info and also the library to download and the wiring scheme.