Line Robot - Overview
This model can be assembled with 2 different grippers. One of them enables it to carry 1 ball, the other 4. Pictures on this page show both variants.
The kit enables the user to build a nimble and compact robot, which can be used for RoboCup Junior Rescue Line or for other simpler tasks. This kit is designed for future enhancements. Robot's features:
- Arduino compatible.
- 4-wheel drive.
- Composite line sensor.
- 3 lidars.
- CAN Bus.
- Parformant IMU Bosch BNO055 (accelerometer, compass and gyroscope).
- eFuse, protecting microcontroller's voltage input.
- 3 powerful switching regulators, for future enhancements.
- Digital voltmeter.
- Switch.
- Bluetooth Classic, Bluetooth LE, and WiFi.
- 2 user definable LEDs.
- Motor controller for 4 motors much stronger than the ones in this kit, for future enhancements.
- Gripper with 2 or 5 robotic servo motors.
- Light barrier for captured ball detection.
- 2 6-channel color sensors.
Demo
Here are 2 examples of robot's capabilities. First, a short line-following sequence in an improvised arena. The second example shows the robot catching a ball with a simpler gripper.
Target usage
When used for RCJ Rescue Line training, the robot can follow a black line excellently, avoid obstacles, and follow a wall. 2 ML-R 6-channel color sensor (mrm-col) can recognize different surface color marks.
Building elements
| Element | Quantity |
|---|
| ML-R 16D Motor Connector (mrm-16d2) | 4 |
| ML-R brick 1x2x2 (mrm3d-br1x2x2) | 4 |
| ML-R brick 2x2x1 MF (mrm3d-br2x2x1mf) | 2 |
| ML-R brick 1x1 L5 (mrm3d-bric1x1l5) | 4 |
| ML-R brick 1x1 L5 L5 parallel (mrm3d-bric1x1l5l5p) | 2 |
| ML-R brick 1x1L3a45 (mrm3d-brick1x1l3a4) | 1 |
| ML-R brick to M2 long coupler (mrm3d-brick2) | 4 |
| ML-R chassis 16 mm L14 (mrm3d-ch16l14) | 1 |
| ML-R gripper body B (mrm3d-gr-bod-b) | 1 |
| ML-R gripper constraint 2 (mrm3d-gr-constr2) | 1 |
| ML-R container for gripper (mrm3d-gr-cont) | 1 |
| ML-R gripper coupler (mrm3d-gr-coup) | 1 |
| ML-R gripper jaw low (mrm3d-gr-jw-lo) | 2 |
| ML-R lever 70 mm (mrm3d-le70) | 6 |
| ML-R lever 70 mm constr. (mrm3d-le70co) | 2 |
| ML-R battery lid D (mrm3d-lid-d) | 1 |
| ML-R battery lid D holder (mrm3d-lid-d-hold) | 2 |
| ML-R PCB join short (mrm3d-pcb-join) | 10 |
| ML-R RD5606 servo holder (mrm3d-rd5606ho) | 1 |
| ML-R rotary joint round bottom (mrm3d-ro-ro-bottom) | 1 |
| ML-R rotary joint round top (mrm3d-ro-ro-top) | 1 |
| ML-R wheel 70 mm (mrm3d-wh70) | 4 |
| ML-R 8x8 bicolor display, CAN Bus,UART, 4 switches (mrm-8x8a) | 1 |
| ML-R Light Barrier 2 Emitter, high intensity (mrm-barr2em-hi) | 1 |
| ML-R Light Barrier 2 Receiver (mrm-barr2re) | 1 |
| ML-R BDC Motor 12 V, 16 mm, 1:100 (mrm-bdc16l50-100) | 4 |
| Nylon bolt M2 4 mm, 1 pc. (mrm-bolt4m2nyl1) | 8 |
| Metal bolt M2 5 mm, 1 pc. (mrm-bolt5m2met1) | 8 |
| Nylon bolt M2 5 mm, 1 pc. (mrm-bolt5m2nyl1) | 60 |
| Nylon bolt M3 5 mm, 1 pc. (mrm-bolt5m3nyl1) | 8 |
| ML-R 6-channel color sensor CAN Bus (mrm-col-can) | 2 |
| ML-R Distribution Pins, 5x 3.3V + 5x 5V (mrm-distrib-f) | 1 |
| MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32) | 1 |
| ML-R wheel hub for 3 mm shaft (mrm-hub3) | 4 |
| MRMS CAN Bus cable 10 cm (mrm-jst-can10) | 5 |
| MRMS CAN Bus cable 5 cm (mrm-jst-can5) | 6 |
| ML-R Cable KK254-KK254 10 cm (mrm-kk2.54-2.54-10) | 2 |
| ML-R Cable KK254-KK254 15 cm (mrm-kk2.54-2.54-15) | 6 |
| ML-R Cable KK254-KK254 20 cm (mrm-kk2.54-2.54-20) | 2 |
| ML-R Cable KK254-KK254 5 cm (mrm-kk2.54-2.54-5) | 5 |
| ML-R Cable KK396-KK396 10 cm (mrm-kk3.96-3.96-10) | 1 |
| MRMS LIDAR 2m VL53L0X, CAN Bus (mrm-lid-can-b) | 3 |
| MRMS Motor Driver 4x3.6A CAN Bus (mrm-mot4x3.6can) | 1 |
| Nylon nut M2 (mrm-nut-m2nyl1) | 49 |
| ML-R Power Supply 3x C, voltmeter (mrm-ps3xc) | 1 |
| Robot servo 0.6 Nm, 300º, dual axis, 6 V (mrm-rd-5606hb-300) | 4 |
| ML-R Reflectance Sensor A (mrm-ref-a) | 1 |
| MRMS reflectance sensors 9x, CAN, analog, I2C (mrm-ref-can) | 1 |
| Nylon spacer M2 18 mm (mrm-spac18m2nyl1) | 4 |
| Nylon spacer M2 5 mm (mrm-spac5m2nyl1) | 28 |
| ML-R Cable XT60-KK3.96 10 cm (mrm-xt60-kk3.96-10) | 1 |