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    Arduino Hexapod Avoider Robot

    Uploaded by

    ALINE TEREZA DE PAULA
    The document details the 10 step process for building an Arduino hexapod avoider robot. It involves designing the robot mechanics, building circuit boards, assembling the electronics which include an Arduino Mega microcontroller, 12 servos, 5 ultrasonic sensors, and a Li-Po battery. The last steps involve programming the Arduino to allow the robot to navigate a maze by detecting obstacles with the ultrasonic sensors and turning to avoid them, with LED indicators showing its progress.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Arduino Hexapod Avoider Robot

    Uploaded by

    ALINE TEREZA DE PAULA
    30 views16 pages
    The document details the 10 step process for building an Arduino hexapod avoider robot. It involves designing the robot mechanics, building circuit boards, assembling the electronics which include an Arduino Mega microcontroller, 12 servos, 5 ultrasonic sensors, and a Li-Po battery. The last steps involve programming the Arduino to allow the robot to navigate a maze by detecting obstacles with the ultrasonic sensors and turning to avoid them, with LED indicators showing its progress.

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    1_733742209869807650

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    © © All Rights Reserved

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    The document details the 10 step process for building an Arduino hexapod avoider robot. It involves designing the robot mechanics, building circuit boards, assembling the electronics which include an Arduino Mega microcontroller, 12 servos, 5 ultrasonic sensors, and a Li-Po battery. The last steps involve programming the Arduino to allow the robot to navigate a maze by detecting obstacles with the ultrasonic sensors and turning to avoid them, with LED indicators showing its progress.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    30 views16 pages

    Arduino Hexapod Avoider Robot

    Uploaded by

    ALINE TEREZA DE PAULA
    The document details the 10 step process for building an Arduino hexapod avoider robot. It involves designing the robot mechanics, building circuit boards, assembling the electronics which include an Arduino Mega microcontroller, 12 servos, 5 ultrasonic sensors, and a Li-Po battery. The last steps involve programming the Arduino to allow the robot to navigate a maze by detecting obstacles with the ultrasonic sensors and turning to avoid them, with LED indicators showing its progress.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 16

    Arduino Hexapod Avoider Robot

    Table of Contents

    Arduino Hexapod Avoider Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

    Intro: Arduino Hexapod Avoider Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

    Step 1: My First Hexapod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

    Step 2: Mechanic Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

    Step 3: Realize your design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

    Step 4: Electronics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

    Step 5: Design some board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

    Step 6: Realize your PCB design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

    Step 7: Assemble all parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

    Step 8: Trial Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

    Step 9: Programming and Algoritma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

    Step 10: Finally Done . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

    File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

    Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
    Intro: Arduino Hexapod Avoider Robot
    Hi Everyone,

    Let me introduce my Friend, MBR-L109R

    # 12 Servos

    # Body made from Acrilic

    # 5 Ultrasonics range finder

    # Arduino Mega as Controller

    # 3300 mAh Li-po power source

    # UBEC 5A as Power supply for servos

    Step 1: My First Hexapod


    That is my MBR-L109

    Yess !!!

    "R" at MBR-L109R standing for Rebirth

    and that is my Photograph 2 Years ago ^^

    This Robot I used for Robot Contest "Fire Fighting"

    Represent Mercubuana University


    Step 2: Mechanic Design
    The first thing I do is Design the mechanic.

    Mechanic is the first step, but to make a good mechanic, you need to know all part which will be attach to the mechanic.

    so I need to know :

    # the size of all electronic component and how they will be attached

    # the crossing cables from layer to other layer

    # the high of the component each layer

    # the movement of robot

    # Area of Servos to move freely


    Step 3: Realize your design
    I choose to use acrylic and use Laser Cutting to cut more precision.

    But Remember , you must really sure before you go to cut.

    I use carton to simulate before I go to cut , just to make me sure I did not made some mistake
    Step 4: Electronics
    Know your component is really important to design mechanic and to program

    =========================================================================

    Arduino Mega Summary :


    Microcontroller : ATmega2560
    Operating Voltage : 5V
    Input Voltage (recommended) : 7-12V
    Input Voltage (limits) : 6-20V
    Digital I/O Pins : 54 (of which 15 provide PWM output)
    Analog Input Pins : 16
    DC Current per I/O Pin : 40 mA
    DC Current for 3.3V Pin : 50 mA
    Flash Memory : 256 KB of which 8 KB used by bootloader
    SRAM : 8 KB
    EEPROM : 4 KB
    Clock Speed :16 MHz

    =========================================================================

    Futaba S3003 - Servo Standard :

    Basic Information Modulation:


    Analog Torque: 4.8V: 44.0 oz-in (3.17 kg-cm) 6.0V: 57.0 oz-in (4.10 kg-cm)
    Speed: 4.8V: 0.23 sec/60° 6.0V: 0.19 sec/60°
    Weight: 1.31 oz (37.0 g)
    Dimensions: Length:1.57 in (39.9 mm) Width:0.79 in (20.1 mm) Height:1.42 in (36.1 mm)
    Gear Type: Plastic
    Rotation/Support: Bushing

    Additional Specifications

    Rotational Range: 60°


    Pulse Cycle: 30 ms
    Pulse Width: 500-3000 µs
    Connector Type: J

    =========================================================================

    Ping Parallax :

    Supply Voltage – 5 VDC


    Supply Current – 30 mA typ; 35 mA max
    Range – 2 cm to 3 m (0.8 in to 3.3 yrds)
    Input Trigger – positive TTL pulse, 2 uS min, 5 µs typ.
    Echo Pulse – positive TTL pulse, 115 uS to 18.5 ms
    Echo Hold-off – 750 µs from fall of Trigger pulse
    Burst Frequency – 40 kHz for 200 µs
    Burst Indicator LED shows sensor activity
    Delay before next measurement – 200 µs
    Size – 22 mm H x 46 mm W x 16 mm D (0.84 in x 1.8 in x 0.6 in)
    Step 5: Design some board
    I need to make my own PCB board for Jumper and Power Supply.

    Jumper board for Servos and Ultrasonics.

    Power supply for Arduino and Ultrasonics.


    Step 6: Realize your PCB design
    Test your board and make sure there is no short circuit and all work properly.
    Step 7: Assemble all parts
    This robot have 3 layers.

    1st Layer for :


    mount legs
    battery
    servos jumper
    UBEC
    Power Switch

    2nd Layer for :


    Arduino Mega
    5vdc Power Supply

    3rd Layer for :


    Ultrasonics Jumper
    Ultrasonics
    Step 8: Trial Test

    Image Notes Image Notes


    1. Ultrasonics Test 1. Foward Mode
    Image Notes Image Notes
    1. Backward MOde 1. Turn Right Mode
    2. Backward MOde

    Image Notes
    1. Turn Left mode

    Step 9: Programming and Algoritma


    This the flow of the program :

    1. # first turned on , The robot do "Stanby Pose" for 3 second


    # Ultrasonics program is running to collect datas
    # Foward Function is running as default function
    # All LED Indicator turn off
    # 1st, 2nd & 3rd ultrasonics is collecting datas
    # Robot keep moving foward until 1st, 2nd &3rd ultrasonics read range < 11 cm
    2. # when 2nd ultrasonic or 3rd ultrasonic read range < 11 cm
    # that mean robot in not straight state
    # robot will turn right , 1 step when read range < 11 cm at 2nd Ultrasonic
    # robot will turn left , 1 step when read range < 11 cm at 3nd Ultrasonic
    # when the robot's state is straight , Foward Function is running as default function
    3. # when robot read 1st Checkpoint ( there is wall in front of the robot )
    # Robot read data from 4th & 5th Ultrasonics
    # robot will turn right , 3 step when read range < 11 cm at 4th Ultrasonic , then 1st LED turn On
    # robot will turn left , 3 step when read range < 11 cm at 5th Ultrasonic , then 1st LED turn On
    # Robot runs 1st and 2nd algoritma (w/o stanby pose)

    4. # when robot read 2nd Checkpoint


    # Robot read data from 4th & 5th Ultrasonics
    # robot will turn right , 3 step when read range < 11 cm at 4th Ultrasonic , then 2nd LED turn On
    # robot will turn left , 3 step when read range < 11 cm at 5th Ultrasonic , then 2nd LED turn On
    # Robot runs 1st and 2nd algoritma (w/o stanby pose

    5. # when robot read 3rd Checkpoint


    # Robot read data from 4th & 5th Ultrasonics
    # robot will turn right , 3 step when read range < 11 cm at 4th Ultrasonic , then 3rd LED turn On
    # robot will turn left , 3 step when read range < 11 cm at 5th Ultrasonic , then 3rd LED turn On
    # Robot runs 1st and 2nd algoritma (w/o stanby pose)

    6. # when robot read 4th Checkpoint


    # Robot read data from 4th & 5th Ultrasonics
    # Robot read 3 LEDs at HIGH State and turn left 3 step then 4th LED turn on
    # Robot runs 1st and 2nd algoritma (w/o stanby pose)

    7. # when robot read there is a wall in front of the robot


    # Robot Read all LED Indicator in HIGH state, that mean The robot is FINISH
    # Robot standby pose for 10 seconds

    Image Notes
    1. a simple labyrinth
    Image Notes
    1. Route of robot
    Image Notes
    Image Notes 1. I am sorry most in Bahasa
    1. 1st checkpoint
    2. 2nd checkpoint
    3. 3 rd checkpoint
    4. 4th Checkpoint

    Image Notes
    1. LED Indicator - This a use to determine the labyrinth turn
    Step 10: Finally Done
    Okay finally done ^^
    Feel free if you have question.

    Thank you ,

    I hope you inspired

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