83 lines
3.3 KiB
Markdown
83 lines
3.3 KiB
Markdown
#Arduino Quadruped Robot
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Arduino Quadruped Robot the project delivered from upstream project [RegisHsu](http://goo.gl/H1vvwW)'s spider robot. This project has been redesigned in 3d printed parts eg: didn't glue servo holder with tibia and fumer, resize body to fit [12300 LIPO battery](http://goo.gl/VmvYhv). You don't need to make a bluetooth remote control anymore but you can control robot using [Android App Bluetooth Joystick](https://github.com/anoochit/android-robot-bt-joypad) instead, [get app from Google PlayStore](https://goo.gl/MF46JS).
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New command mode (see source code for detail)
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* Test mode - test robot movement in bluetooth command
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* Sonar mode - wave your hand in front of ultrasonic sensor to wake up robot
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* Free walk mode - walk and avoid obstacle in 20cm like robot vacuum
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##Bill of Materials
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###3D printed parts
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* Top Body x 1
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* Bottom Body x 2
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* Femur x 4
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* Coxa Left x 2
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* Coxa Right x 2
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* Left Tibia x 2
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* Right Tibia x 2
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* Electronic plate x 1
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###Electronic parts
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* Arduino Nano x 1
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* Arduino Nano expansion board x 1 (optional)
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* Tower Micro Servo 9G x 12
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* Switch x 1
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* UBEC 5V 3A or Reguletor 5V 3A
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* LIPO Battery 7V/12V 3A (3A play for 1hr)
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* Prototype PCB Board 6x8 cm
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* LED x 1
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* DC Socket 2.5mm x 1
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* Pin header
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* Female Pin Header
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* M3 25mm screw x 4
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* M3 10mm screw x 4ผ
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* M2 10mm screw x 4
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##Assemply
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Assembly the printed parts for 4 legs with servos, don't screw servo axis at this time, then assembly legs with body.
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Assemply electronic parts (schematic'll add later)
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* Servo pulse pin connect to Arduino Nano pin D2-D13
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* Servo VCC and GND connect to regulator output
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* Bluetooth HC-05 Vcc to to Arduino Nano 5V pin, GND, RX-TX and TX-RX
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* Arduino Nano, Vin and GND connect to regulator output 5v
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* Use dc jack connect with LIPO battery
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* Connect battery to input of regulator for stepdown output to 5v
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Group servo wire use order Fumer, Tibia, Coxa, connect servos to arduino pin for each leg
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* Lelf Front connect to pin D2-D4
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* Lelf Back connect to pin D5-D7
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* Right Front connect to pin D8-D10
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* Right Back connect to pin D11-D13
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Flash leg_init.ino script to initial servo angle then screw tight all servo axis, leg position like picture.
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Flash spider_robot.ino to Arduino, Finish.
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##How to play
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Clone joystick app build and install or [get app from Google PlayStore](https://goo.gl/MF46JS) to your mobile phone, open app, swipe and choose connect menu, choose robot bluetooth to connect.
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Use setting menu to config button or choose QRCode Scanner to scan QRCode below for automatic config.
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Now you can play your robot. see robot in action at [https://www.youtube.com/watch?v=OoDke587s8s](https://www.youtube.com/watch?v=OoDke587s8s)
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