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Arduino tečaj: sklapanje robota za RCJ Rescue Line

Overview

Ovo je dio cjelovitog tečaja Arduino-a.
  1. Štampajte dijelove koristeći ovaj Sketchup model RescueLine.zip.
  2. Sastavite robota koristeći upute za sastavljanje (ova stranica).
  3. Spojite kablove koristeći plan spajanja.
  4. Programirajte robota.
    1. Osnove.
    2. Praćenje crte.
    3. Naredbe.
    4. LIDARi.
    5. Prekidač, IMU, 8x8 LED.
    6. Praćenje zida.
    7. Srebro.
    8. 8x8 LED programiranje.
    9. Robotska ruka.
    10. Raspberry Pi.
    11. Prepoznavanje kamerom, OpenCV.
    12. Arduino i RPI surađuju.

Potreban alat

  • Diagonal cutters.
  • Precision Philips screwdriver.
  • Precision pliers or (even better) hemostat.
  • M2 wrench.

Štampajte dijelove 3D printerom



Ako ne koristite vrhunski printer, vjerojatno će rupe trebati dodatno proširiti bušilicom i svrdlom 2 mm (većinom). Dijelove je moguće štampati na bilo kojem 3D printeru, uključivo najjeftinijem. Bitno je samo da je dovoljno velik. Reflectance sensor holder can be printed in black to minimize negative effects of a (infrared) bright environment but it is not mandatory.

Kotači

Learn here how to make 4 silicone tyres and produce them.

Držači stražnjih motora

Parts needed:

  • 6 mm M3 round head bolts, 8 pcs.
  • M3 nylon nuts, 8 pcs.
  • Motor brackets Pololu 1138, 2 pcs (2 brackets in 1 packing).
    • The bolts must have either a round head or similar, low profile, as the motors fit very tightly and will bend if the heads are too high. Use the bolts, with the nuts going on the bottom side, to fasten the brackets to the PLA part.

Držači prednjih motora

In a similar manner, using the same parts, assemble the front part.

Donji nivo

Align bottom level parts and connect them using a 25 mm long steel rod, 3 mm in diameter.

Držači LIDARA i sl.

Parts needed:

  • M2 nylon nuts, 17 pcs.
  • M2 nylon spacers 5 mm, 17 pcs.

Attach 5 mm spacers to 8x8 LED holder, LIDAR holders, and RPI holder.

Držač senzora crte

Parts needed:

  • M2 nylon nuts, 32 pcs.
  • M2 nylon spacers 5 mm, 20 pcs.
  • M2 nylon spacers 15 mm, 2 pcs.

Attach 5 mm spacers to line sensors' holder, plus 2 15 mm spacers, pointing in the opposite direction
Connect 8 ML-R Reflectance Sensor A (mrm-ref-a) sensors to the 5 mm spacers using 5 mm bolts. Leave 2 places vacant in order not to cover the holes needed for attaching to the robot's body.

Gornji nivo

Parts needed:

  • M2 nylon nuts, 32 pcs.
  • M2 nylon spacers 5 mm, 29 pcs.
  • M2 nylon spacers 12 mm, 16 pcs.
  • M2 nylon spacers 15 mm, 3 pcs.
  • M2 nylon spacers 18 mm, 2 pcs.

Attach the spacers to the top board. Study the picture carefully to avoid rework later.

Spajanje 2 nivoa

Parts needed:

  • M2 nylon bolts 10 mm, 8 pcs.

Connect the top and bottom boards.

Sklop senzora linije

Parts needed:

  • M2 nylon bolts 5 mm, 2 pcs.
  • M2 nylon spacer 15 mm, 1 pc.
  • M2 nylon spacer 18 mm, 2 pcs.

Elektronika

Parts needed:

LIDARi

Parts needed:
  • Pololu VL53L0X LIDARs

LED holder, Raspberry Pi i Teensy 3.2

Parts needed, excluding LIDAR holders:

  • Teensy 3.2
  • Raspberry Pi
  • Switch for Raspberry Pi
  • M2 nylon bolts 5 mm, 5 pcs.
  • M2 nylon spacer 5 mm, 1 pc.
Pripremite Teensy 3.2 pločicu. Pogledajte ove upute, 8. točka, gdje je opisano kako koristiti srednju grupu kontakata i kako prekinuti USB kratkospojnik napajanja (isto obavezno). Spacers for LIDAR holders:
  • rear left: a pair of 6 mm + a pair of 18 mm,
  • front left: a pair of 12 mm + a pair of 18 mm,
  • front right: a pair of 18 mm,
  • rear right: a pair of 8 mm + a pair of 18 mm.

LIDAR sklopovi

Parts needed:

Attach all of the LIDAR assemblies except the rear right one. Connect ML-R voltmeter (mrm-volt) into the left KK 396 header, pulling it through the right back LIDAR holder. Plug ML-R Cable KK396-KK396 10 cm (mrm-kk3.96-3.96-10) into the right one and connect the other part of the cable into the middle KK 396 header of the MRMS Power Supply 3x B (mrm-ps3xb), pulling it also through the LIDAR holder. Attach the last LIDAR holder to spacers below.

Motori

Parts needed:

Solder ML-R 20D Motor Connector 90 deg. (mrm-20d90) to the motors. Keep a little backlash between the motor and the header in order to avoid short circuit.
Use 4 ML-R Cable KK254-KK254 20 cm (mrm-kk2.54-2.54-20) to connect the motors to the motor controller. Start with the left rear motor and connect it to the leftmost controller's header. Continue clockwise (front left,...) and connect them to the adjacent headers from left to right.
Connect 4 motors to the brackets using the bolts supplied. Zip-tie the cables.

Bluetooth

Parts needed:

  • Bluetooth adapter.

Put the adapter into the printed holder.

IMU

Parts needed:

  • ML-R IMU (mrm-imu),
  • M2 nylon bolts 5 mm, 4 pcs,
  • M2 nylon spacer 5 mm, 2 pc,
  • M2 nylon nut, 4 pcs.

Important: change IMU's address to 0x28 before assembly. You have to short J1 solder jumper on the back side. This is needed because LIDARs use IMU's default address, 0x29.

First assemble 2 spacers, 2 nuts (they go on the upper side), and ML-R IMU (mrm-imu), then use 2 bolts to join the assembly to the robot's body. The bolts go through robot's lower board. Join Bluetooth assembly, too.

Kablovi napajanja

Parts needed:

Connect the cables. Take a look at the connection schematic. Be careful not to mix up 3.3 and 5 V connections. It is possible to connect (using some force) KK 254 or KK 396 connectors in the opposite direction!

You can couple 8x8 LED display, too, but keep in mind that You will have to connect the cables later.

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