Final Project¶
My final project is Holonomic Robot platform (or in other words, an omniwheel robot).
Purpose¶
The goal of this Final project is creating a mobile platform that can do holonomic motion for food delivery. This is achieved by modifying a traditional robot’s wheel type into either a mecanum wheel, an omniwheel, or a ballshaped wheel.
I have fabricated both mecanum and omniwheels, and find that omniwheels use less materials and less time to manufacture.
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What I have done¶
The goal of this spiral is as follows:
- The motors to rotate.
- The robot to move forward, backward, left and right
- The robot to be controlled via a computer application.
There are some sections on the left that are irrelevant to this spiral. I have written down below which headers are relevant.
Brainstorm¶
I talk about why I chose the stepper motors over other types of motors.
Chassis¶
I explained why my chassis looked the way it does.
Microcontroller¶
I go through the decision process of selecting ATTiny1614 for my project.
Omniwheels¶
I wrote about the process of me to reach the particular omniwheels I used.
Stepper Drivers¶
I go though how I programmed the stepper drivers to enable movement.
Networking¶
I go through how I linked all my systems together. I reused my board from Network and Communications week, and modified the application from Interface and Application Programming week
Integration¶
I went through how I integrated each subcomponents.
Brief planning of the final project (initial)¶
26 May: Complete networking component of robot + confirming motors to be used (Stepper or DC?)+ fix
27 May: Make output driver for robot
28 May - 29 May: CAD new robot base, wheels, and Eagle microcontroller + think how to package tgt
30 May: Finish up leftover stuff (networking, Motor driver)
31 May: Make microcontroller + 3D print robot wheels + finish leftover stuff
1st June: Mill microcontroller + Laser cut/mill chassis of robot + assemble robot
2nd June: Fix networking board, write application to move motors, finish documentation
3rd June: System Integration Phase I: Ensure everything is working together
4th June: Plan how to package the system better
5th-6th June: CAD whatever is necessary to package everything together better
7th June: 3D print new TPU wheels (18 of them, each 1 hour, requires constant monitoring)
8th June: Solder ATTiny1614 board, check to ensure it works
9th June: Continue fixing networking board, mill custom ATTiny1614.
10th June: 3D print parts to package everything together (cable fasteners, battery fasteners, etc.),
11th June: write application to calculate and send velocities to robot
BOM and Parts list¶
Updates to Global Evaluator
Final project parts list
| Part | Model | Price | Quantity | Origin | Subtotal |
|---|---|---|---|---|---|
| Stepper Motors | Nema 17 | $7.90 | 3 | Alibaba | $23.70 |
| Stepper Motor drivers | DRV8825 | $1.60 | 3 | Alibaba | $4.80 |
| Arcylic sheet | 5mm acrylic sheet A5 | 1 | Fablab inventory | $10.50 | |
| 3D printer filament | PLA | $11.80 | 200g | Fablab Inventory | $2.63 |
| 3D printer filament | TPU | $24.81 | 200g | Lazada (Personal use) | $4.96 |
| Other electronics component | Attiny1614 SSFR, ESP01, headers, resistors, … | Alibaba, DigiKey, Cytron.io | $16.63 | ||
| Hardware components | M3 screws and nuts | Alibaba | $4.18 | ||
| Brass Pole | 1meter | $1.40 | 1 | Hardware shop | $1.40 |
| Lipo battery | Turnigy 3S 2200mAH | $20.00 | 1 | Personal | $8.99 |
| Total: | $77.79 |
Electronic component breakdown
| Part | Quantity | Origin | Price |
|---|---|---|---|
| Attiny1614 SSFR | 2 | Alibaba | $2.04 |
| Ultrasonic Sensor HC05 | 3 | Cytron.io | $3.10 |
| ESP8266-01 | 1 | Cytron.io | $1.80 |
| 100uF Capacitor | 3 | DigiKey | $1.86 |
| SMD male headers Horizontal | 24 | DigiKey | $3.19 |
| SMD male headers Vertical 5*2 | 2 | DigiKey | $2.30 |
| TTL female header Vertical | 8 | DigiKey | $1.25 |
| 5V Regulator AMS1117 | 1 | Alibaba | $0.12 |
| 3.3V Regulator XC6206 | 1 | Alibaba | $0.02 |
| Resistors | 5 | DigiKey | $0.03 |
| Capacitors | 3 | DigiKey | $0.15 |
| Push Button | 1 | DigiKey | $0.18 |
| Jumper Wires Female to Female | 40 | Cytron.io | $0.60 |
| Total | $16.63 |
Hardware component breakdown
| Part | Quantity | Origin | Price |
|---|---|---|---|
| M3*12mm | 12 | Alibaba | $0.92 |
| M3 * 16mm | 12 | Alibaba | $1.00 |
| M3 * 10mm | 5 | Alibaba | $0.85 |
| M3 nuts | 25 | Alibaba | $1.05 |
| M3 set screw | 3 | mcmaster | $0.36 |
| Total | $4.18 |
CAD files:
- chassis step
- omniwheel step
- Main microcontroller .sch .brd
- DRV8825 drivers adapter board .sch .brd
- Networking circuit schematic brd
Code files:
- esp01 to microcontroller .ino
- omniwheel driver .ino
- final computer application application rar file
End updates
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.