ANT-ROBO

thingiverse

This is the design for the robot controlled by Pi Zero-W. Proposed features: Driving Base: Circular base - with a control board of motors, wireless charging system, wheels and anti-hit bars/end stops 1. A control board is made up of 4 transistors (2xC23353R and 2x E13005). 2. Two geared motors with wheel from Taobao are installed. Projected pins were first removed and then inserted into the base vertically and then turned 90 degrees. They are then fixed firmly with motor stops. 3. Front and rear dumpers with 2 limiting switches and an ultra sound sensor are attached to the deck. Progress of works: - The base of motor mount and stops were made in July 2018 - The front bumper was made on August 23, 2018 - The supporting wheel carrier was made on August 25, 2018 (Hints: The supporting wheel was taken from a nylon wheel of the curtain and then fixed into the carrier with a washer and locking pin) (Hints: The end stops of the front dumper were fixed in position with hot glue and a spring (i.e. from a pen) was installed onto the cap and to provide pushing force) - The top cover of the driving chamber with mounting holes for Pi Zero W was designed and made on September 1, 2018 - Servo and sensor mounts were made by the end of September 2018 Software (Python3) and Assigned Pins in Pi Zero W: (Trial run was made on September 14, 2018 https://www.youtube.com/watch?v=gseHqjmimLA&feature=youtu.be) - 2 driving geared motors (2 pins for transistor switch) - 1 HC-SR04 ultra sound sensor (1 pin sharing for Trig and Echo) - 1 servo (1 pin for PWM) - 1 pin for 5V power supply - 1 pin for common ground Hints: ulimit -a (showing existing pi zero limits), increase the hard and soft limits for pending signal no. and stack no. Functional Modules (Optional): 1. Google Assistant was installed and working fine in Pi Zero W (.i.e. ArmV6). Actions will be added to trigger AntRobo. 2. A turbine and cyclone dust separator - Design of ultra sensor and servo mount and dust separator of cleaning module are in progress. Preliminary design of dome-shaped head is drafted. Head Unit (Pending): Camera, speaker, mic, and Indoor positioning system