JM Self Balancing Robot V1

cults3d

Hi, I've been working on my self-balancing robot project, which is designed for easy assembly and requires no soldering or part crafting. All you need to do is put the pieces together. As a hobbyist with a 3D printer, you likely have most of the parts. Note: I'm still developing the coding aspect of this project, so I can't share the code yet. The code needs some calibration adjustments, such as PID values and angle drift filtering, to improve its performance. Any help is welcome at this time. Here's a link to a moving video that shows my robot in action: https://youtu.be/KGVTsASj2y4 Assembly: 1)BodyDown part: The first step is to attach the stepper motors, wheels, and tires (which should be printed with flexible filament for better traction). You can also use elastic if you don't have flexible filament. Make sure the stepper motor connectors are not facing upwards. When coding, you won't need to secure the Arduino, so the USB cable can pass through the upper side. 2)BodyUp part: Attach the mpu-6050 sensor with 2x M3 screws, either on the top or bottom face. I use a 3M adhesive paper to stick mine facing downwards, which keeps the cables hidden. You can also glue the battery holders in place so they don't fall during shaking or falling. Required parts: 1) Arduino Uno R3 (I have an Atmega 328p processor version) 2) CNC Shield 3) mpu-6050 sensor 4) 2x Step Motor Drivers 5) 2x Nema 17 Step Motors 6) I had trouble selecting the right battery, so I ended up using 3x 18650 batteries. However, they heat up quickly, and when used with a powerbank that's not 12V, the stepper motors experience some power issues. You can choose your own battery or use my adapter to insert one. 7) A bunch of M3 screws (between 16-24) depending on what you want to add 8) (Optional) HC-06 Bluetooth module You can purchase the required parts from Banggood using these links: https://www.banggood.com/CNC-Shield-UNO-R3-Board-4xA4988-Driver-Kit-With-Heatsink-For-Arduino-Engraver-3D-Printer-p-1082323.html?p=XU281311011736201705 and https://www.banggood.com/6DOF-MPU-6050-3-Axis-Gyro-With-Accelerometer-Sensor-Module-For-Arduino-p-80862.html?p=XU281311011736201705 Future Plans: 1) Perfecting the balancing code 2) Finding a better powering solution 3) Adding Bluetooth and Android control capabilities 4) Integrating a small screen to create cute eyes with reactions