In this project, I will start to build a four-septic turtle robot capable of controlling using Bluetooth. The robot has two degrees of freedom, using a crawling manner, so it may not work properly in uneven ground.
Step 1: 3D Print Components
Some of this robot is made of 3D printing techniques, I have provided these 3D print parts .stl files and .il files, you can modify these files according to your needs. The file you need to print contains a substrate, a cover, 3 front and rear connections, a front panel, 4 leg interfaces, 4 leg folding members, a rear panel, 4 sides and substrate connections, 2 side panels 4 upper components.
Step 2: Other components and cost
Below I list the main components and costs needed for this project. (Of course, most of the money purchased in China is cheaper.)
· 3D print parts ~ 40-60 US dollars
· Arduino Uno ~ 20 US dollars
· Arduino 5V sensor expansion board ~ 11 US dollars
· HC-06 Bluetooth module ~ 10 US dollars
· 8 Futaba S3003 standard steering gear ~ $ 80
· Ultrasonic sensor ~ $ 7
· 4 AA batteries (drive steering gears) ~ 6 dollars
· AA battery set ~ 5 US dollars
· 9V battery (driver Arduino) ~ $ 8
· 9V battery connector ~ 5 dollars
· 4 parents on the mother broth (connection sensor and expansion board) ~ 5 dollars
·computer
A total of approximately $ 197 to $ 217.
The third step: the assembly of the leg
After the raw materials are prepared, they can start assembly, we start with the leg. The 8 drops were divided into 2 groups, each set of 4 of the "thigh joint" and "knee joint" separately in the robot, respectively.
Among them, 4 servings at the "Thighteral" need to be fixed on the substrate of the robot.
Step 4: Connection
Thereafter, Arduino and batteries with expansion plates are then mounted on the substrate, and the Bluetooth module, the steering gear, and the ultrasonic sensor are connected to the corresponding position of Arduino, and finally connect the battery. The specific connection is shown below:
It's better to connect:
Step 5: Sport mode design
Design a robot, it is of course critical to design a suitable motion model. My robot is this movement:
When the robot moves forward, it first moves its right front foot forward, and the robot will push the left front. This will push forward the right of the entire robot. Then the robot moves forward its left foot, and it will be pushed back to the right back. This sports will push the left of the robot to before. Next, the robot will push forward, push back before the right front; then go back, back, left behind; so recovery. This approach allows the robot to move forward in a faster speed. As shown below:
And when the robot is reversed, it only needs to perform the entire process in turn.
If the robot needs to turn right, the robot moves the right front foot forward, while moving the right back, and then move the right front step back in the case of the left. The next left front is removed, then move the left, and the left forefoot is moved forward. Turn right is complete.
In the same way, when the robot needs to turn left, the robot can move the left front foot forward and move the left foot to the front, and then keep the left front foot to move back in the right back. Next, the robot continues to move the right front foot forward, and then move the left behind the left to move its right front leg. Left turn is completed.
Step 6: Code
The code is divided into two parts: the_social_quadruped.ino and quad_functions.ino.
The first included servo.h library (Arduino ID "and newping.h. I first defined the trigger pin, the corresponding pin, and the maximum distance of the ultrasonic sensor; then I defined a Boolean variable and can be used to switch the automatic mode of the robot. The servo has been defined again. In the setup function, I initiallyified the serial detector so I can send the command to Arduino. In the cyclic function, I set the ultrasonic sensor to send the distance to the serial detector recently, and then check the user input. If the user input characters f, b, r, l, w, s, u, u, or a, will be performed, backward, right turn, left rotation, waving, sleep, standing or automatic work, these different functions . These functional functions are defined in quad_functions.ino and can be easily called. In addition, it is necessary to mention that when the user presses A, the robot will enter the automatic mode; to cancel the automatic mode, the user needs to click again A.
The second part quad_functions.ino contains all functions of the function definition. These include various motion patterns of the robot. Forward, back, right turn, left turn and other functions are well understood, waving the function package contains two functions of Wave2 and Wave, allowing the robot to use left forefoot and right front foot. The WaveAuto function is the robot waving in automatic mode, using the right forefoot. Sleep mode means that the robot moves the position of the steering machine to let the robot lay flat into the ground. The READPING function is used to read the data passed by the ultrasonic sensor.
Step 7: Wireless control
First of all of course, make sure the Bluetooth module is installed correctly by the above description.
Next, start the Bluetooth on your computer and pair it and the Bluetooth connection on Arduino. After pairing, enter the control panel and find HC-06 in the device. Right click and select "Properties", select the Services option, on the serial communication hook of the interface.
Then enter Arduino IDE, select Path Tools -> Port, set the interface in the "Service" option. Then I was very good!
Open the serial number, you can view the readings of the ultrasonic sensor, and you can control the robot to connect to your computer via USB.
Original link: https://www.eeboard.com/news/arduino-diy-2
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