R.O.O.S.T.E.R.

budel0

Netherlands
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robot video thumbnail
robot video thumbnail
robot video thumbnail

Hello fellow EZ-B'rs,
As I finally discovery how to upload photos I thought it was time to share my robot with the world.
It's called R.O.O.S.T.E.R which stands for: Remote Online Operating Scientific Testing Electronic Robot (took me about an hour to come up with that, but I like it).
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It's based on the 6 wheeled Dagu Wild Thumper kit. On top of that I added a 5 DOF robotic arm and a netbook.

The specs:
- 6x 6v 6A motors
- 2x 20A Rc Car ESCs
- 2x Reddragon 2s 25c 1200mAh
- Ofc the Ez- B
- Dfrobot 5dof robotic arm
- Asus Eee pc 900hd
- Ping sensor (well... I sort of broke it... It got stuck between the robot and the wall...)

Why I'm building it?
Because I can, robots are Awsome, the EZ-B rules and I got tired of burning/shocking myself when I'm testing one of my "crazy" contraptions.

Up coming updates for robot:
- A rotationplatform for the arm.
- 2 gigantic lipo batteries.
- camera+ pan/tilt turret.
- Small rockets
- mini mini-gun
- Flamethrowler (a failed version of a liquid fueled rocket, but it's working if you call it something else)
- coilgun
- railgun
- Lots of other things I can come up with.

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Netherlands
#1  
Some extra pictures.

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Netherlands
#93  
It has been a while since my last update. But the project hasn't stopped, it has only been on hold for a while.
Since my last update I've made a lot of changes to the R.O.O.S.T.E.R. and most of them aren't visible.

It now looks like:
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The entire drive system upgrade has been succesful. After a long time of testing and tuning, everything works,
from the axles to the gearboxes and front and aft stearing.


So what am I now working on?
Well, some of you might know that I have bought a Kangaroo X2, to controll the sabertooth that drives my motors.
To use a Kangaroo X2 you need either analog sensors or quadrature encoders as feedback. For the last few days
I've been building a circuit to condition the signals coming from 4 IR reflectance sensors.

I started of with building the circuit on my breadboard and testing it.
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It all seems to be working as planned, so today I started with stuffing it in to something smaller.
And after some midnight soldering it looks like
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So far its only half done. I still need to add the components of the last 2 channels.
But I was proud enough that I thought I'd show it before it's done. Never had any education about this, just the
internetz.

I'm going to try to finish it tomorrow or somewhere next week, so I can test it with the Kangaroo X2.
#94  
@budel0 hay i like to make this to but will u please tell me that what parts r u using on this? full detail BOM

and please tell the full procedure to with photos or diagram if possible.
Netherlands
#97  
@Mohanish
Well thank you, it's been my long term project and one of the prides of my home projects.
I need to continue with it, it's been standing still for about 3 months now. I was having some issues
with my DIY encoders, so I bought some but haven't made anything to mount it with.

As for a BOM, it might take some time to make. I'm also going to warn you that some parts
will be extremly expensive to buy if you don't have your own (CNC) mill and a lathe. For instance
the frame(chassis) is milled from a slingle peice of aluminum almost 400mm long. But if you do
have the equipement or acces to it, it'll be cake.

As a preview of the list of items, here's what I used:
2x HSP 1/10 monster truck 4x4 (all the drive gear for independant wheel suspension)
1x Dagu wild thumper (a frame for on top of the suspension, etc.)
1x DFrobot 5DOF robotic arm
1x EZ-b v3 (upgraded with Synapse modules for longer range, probably getting a v4 in the future, adding a cam is so much easier with that one).
1x Dimension engineering Sabertooth 2x25a
1x A whole lot of upgrade parts from HSP
1x Laser cut battery tray
2x CNC'd axles
1x CNC'd chassis
1x CNC'd other parts
1x 3D printed EZ-case
3x Lipo 2s 4000mah 25c
1x Custom electronics for lights
1x more stuff

Hmm I should continue with this project... I now also have a viable ignition for the flamethrower
I made >.<. I'll probably continue with it after I've finished my "artisticle" project.

As for the BOM, maybe next week.

Cheers


PS. A full manual, not going to happen, I might add a small exploded view as I dont have all the
parts in CAD.
#98  
@budel Thanks! i'll wait for that :D:D but i like to tell u that i need only Electrical parts list only means what kind of motor u use which Board and what motor controller which sensors u used that only i need it other then that all mechanical parts like chassis , Brackets and suspensions system all that ill design my own i need only electrical parts list
Netherlands
#99  
So it has been almost 1 year since I actually posted progress on my robot project.
I've been working on it every now and then, maybe once every few months. I spent
most of my time on school, actually graduated last month and started
A company.
And now that I have more time I thought the moment was there, after almost 2
years of watching the revolution pass on I decided that I was going to order a v4 aswell.

And guess what, I got mine yesterday.
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Luckly enough I didn't have to pay taxes *cheers* 70 ,- in the pocket.
(for anyone who cares ((142 (EZ-b + cam) + 15 (standard customs fee)
*1.12 (customs taxes))*1.21(VAT)) - 142 = about 70,-).

Future plans for the ROOSTER:
- Finish of sensors for the kangaroo + sabertooth (I made a different one than
I have in my previous posts)
- Drive some around the house.
- Add a second cam.
- Add navigational features, gps+compass (have it on my tricopter, so must have it
on my rover aswell).
- Add more "things"
#100  
Welcome back. I'm looking forward to seeing your new progress. I remember this build. It was gong so well. Hopefully the new V4 will make the difference for you.
Netherlands
#101  
A few months later...
So I had this idea to make a new rotation platform for the robotic arm.
The plan was to have it as low profile as possible so it could still reach the ground.
I also wanted to include a few ping sensors for range detection. I'm planning to
make my robot fast and I want a "constant" stream of range detection in front of it so it wont crash.

So here's the plan:
A servo powering a set of pullies which rotates an axle that rotates the arm.
Everthing will have bearings to ensure smooth and rotation.

Some Inventor hours later:
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Next step was to order parts and 3D print the sensor frames, the frame for the
whole and the arm. The parts took about 10 hours to print and another 2 hours
to cure. I printed them on an Atum V1.5 (DLP resin printer).

Also made a tiny axle:
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Afterwards I assembled everthing with some adjustments here and there to the
printed parts(made a mesuring error on the thrusted ball bearing... Fixed that on
the lathe).

And tadaa:
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Next step will be making something that connects a servo to the frame and to
the remaining pulley with some kind of timing belt tensioning contraption.
#102  
Bude,

Awesome bot. I like the idea of it being able to reach the floor to pick things up. Is it moving autonomously in your room? I've never seen one move that quickly.
Netherlands
#103  
@ EEGbiofeedback
The plan is to have it move autonomously, but it's not that far yet. I still need to
finish making the encoders and apply them to the drive system.
But yea, it's pretty fast. I haven't ran it at full speed inside, well not when the wheels
were touching the floor. When I have everything up and running and added a gps
receiver then I'll drive it outside.
#104  
Nice! Here's one I made that goes about 1/3 the speed of yours. It has 3 ping sensors continuously scanning with a tank chassis:





Looking forward to your updates,

Bill
PRO
Belgium
#105  
oeps video is privet
Netherlands
#106  
For the last year I've been working on and off on getting a Kangaroo X2 up and
running. The problem was that I never managed to get any of my encoders to work.
They would either bang around too much or wouldn't fit at all.

So here's attempt number 3:
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I'm using 2x ams as55035 8bit hall effect quadrature encoders and 2 diametric
magnets. The first sensor took me about 3 hours to get it working... Lets just say
I couldn't make a board on the mill so I had to solder pins to it and they wouldn't
stick or fall off... And a certain smd almost received some free flight lessons... If
you catch my drift... On the other hand, they work great and are small enough
that they fit in line with my motors.

Next step is to test them in the robot.
Netherlands
#107  
Today... Today... Today... Approximatly 1 year, 4 months and some days after
starting my Kangaroo journey I finally managed to get it working with my
Sabertooth and my DIY sensors.
After many attempts in making my own Quadrature encoders, I did it with just
two 8,- chips en two diametrical polerized magnets...

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The autotune took 3 attempts, in which I had to change from mixed mode to
independant mode. This was necessary because both of my motors are connected
to the same drive axle and in the final stage of the autotune in mixed mode it
would try to rotate each of them in a different direction which results in it standing
still. I also needed a larger tune area in my final tune then set to independant mode
, but 3rd is a charm and it gave a succesful tune.

After the tune it gave me the best thing ever:
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That yellow/orangy light on the Roo... Not blinking, but solid...

Next step: making it work with the EZ-b and waiting for the USB to TTL to arrive.
So I can use the DeScribe software to find the control values.
Netherlands
#108  
It has been a while since my previous post, I do have to say a lot of things have
changed. Most of my time is now going in to my sub-project: Ping Navigation Plugin.
And I found out that I couldn't continue any longer with the plugin without a
platform to test it on.

So I wired up all the ping sensors and installed an arduino nano to continuously
read them out.

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The sensors will be read every 29ms and on request of the EZ-B the arduino nano
will transmit the measured distances. This means every 145ms all measured
distances could be transmitted. Which is great, but I'll most likely request it at a
much slower rate to prevent flooding the channel.
I'm most likely to add another arduino or other microcontroller to talk with this
one. I want to have sub systems each with their own job to improve the overal
speed. I.e. if I add any process which takes longer than 29ms to this one arduino
I have to stop the "ping sensor read" loop to do that process and restart it
afterwards, thus adding delays and introducing slower responsetimes. But I
could add another 6 ping sensors to this nano before it's full :D.

Furter more, I've completely redesigned the rotating mechanism of the robotic
arm. I found out that without a propper belt tensioning system and a stiff enough
frame, it's not possible to rotate the arm without having more than 5 degrees of
play. So I took that belts and pulleys out and replaced them with a set of tiny
worm gears and a pile of tiny ball bearings.
Instead of using a servo for rotating, I've chosing to use a tiny motor which has a
set of planetairy gears and plenty of torque to rotate the arm. I only have to hook
it up to a tiny speed controller and the ez-b.
There's still some play, but it's way less. The gear can slip on it's axle, which is
fine, it prevents other parts from breaking. It will only slip if you hold the arm
while the motor is on.

Next part of my project will be about finding and implementing a microcontroller
that is small but also has multiple uart ports, besides another EZ-B. And I think
it will be a Bluno with I/O expansion board.
It'll add a ton of I/O and 5 uart ports. Not sure if I'll need the I/O but other wise
I'll have to see if I can find something simular, which has multiple uart ports.
#109  
Wow 4 years and still going strong. Very impressive. It's a very nice design. Sweetly completed.;)
PRO
USA
#110  
nice, a lot of metal !

Regarding your encoders, how many ticks per revolution ?
Netherlands
#111  
Thanks guys :D.

@ptp
I'm using 2 AMS AS5035-ASSU encoders. Here's the datasheet:Link.
They should have 64 ticks per channel, 256 edges per revolution, which equals
1.4 degree's per step. Or so the datasheet says.