ADEEPT RaspClaws User Manual
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ADEEPT RaspClaws User Manual

Smart robot kit for raspberry pi
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Summary of Contents for ADEEPT RaspClaws

  • Page 2 Please place and put the product gently. Do not smash or shock it. About Adeept is a technical service team of open source software and hardware. Dedicated to applying the Internet and the latest industrial technology in open source area, we strive to provide the best hardware support and software service for general makers and electronic enthusiasts around the world.
  • Page 3 This user manual and code can be used for learning, DIY, refitting, etc., except for commercial purpose. The Adeept Company owns all rights of contents in the manual, including but not limited to texts, images, data, etc. Any distribution or printing should be implemented with the...
  • Page 4 Before assembling Before installing the robot, you need to install the software (refer to second half of the document) to control the robot on the Raspberry Pi. Because the servo needs to be returned to the original position during the robot assembly process, which requires the assistance of a Raspberry Pi with software that runs normally.

  • Page 5: Table Of Contents

    contents 1. Components List...............................2 1.1. .Acrylic Plates............................2 1.2. Machinery Parts............................3 1 3 Electronic Parts ............................1.4. Tools................................5 2. Assembly.................................. 6 3.1. Preparations before Assembly....................... 6 3.2. Servo debugging............................9 3.3. Install and Remove Batteries........................ 12 3 4 install the arm ............................

  • Page 6: Components List

    1. Components List 1.1. Acrylic Plates The acrylic plates are fragile, so please be careful when assembling them in case of breaking. The acrylic plate is covered with a layer of protective film. You need to remove it first. Some holes in the acrylic may have residues, so you need to clean them before the use.

  • Page 7: Machinery Parts

    1.2. Machinery Parts M2.5*8 M2*8 M2.5*4 Screw Screw Screw www.adeept.com www.adeept.com www.adeept.com www.adeept.com www.adeept.com M3*8 M1.4*6 M3*8 M1.7*6*6 M2.5*14 Screw Self-tapping Countersunk Self-tapping Copper Screw Screw Stand off Head Screw www.adeept.com www.adeept.com www.adeept.com www.adeept.com www.adeept.com M3*10 M2.5*11 M3*40 M3*15 M2.5*10+6...

  • Page 8: 3 Electronic Parts

    1.3. Electronic Parts Adeept robot HAT X1 Raspberry Pi Camera X1 mpu—6050 3-Pin Wire Car Light X4 18650 Battery Holder Set X1 Servo x15 Raspberry P1 Camera Ribbon X1...

  • Page 9: Tools

    1.4. Tools Cross-head Screwdriver X1 Winding Pipe X1 Large Cross-head Screwdriver X1 Ribbon X1 1.5 Self-prepared Parts 18650 Battery X2 Raspberry Pi 18650 battery specification: It is recommended to use lithium battery above 3000mAh and without overcurrent protection. The power supply current requirement is above 3A. Using 18650 lithium...

  • Page 10: Assembly

    2. Assembly 2.1. Preparations before Assembly 1.Connect the Raspberry Pi Camera and the ribbon. Assemble the following components Note: That in the next operation, the Pi Camera of the Raspberry Pi should always be connected to the Raspberry Pi, and do not reverse the wires of the Raspberry Pi.
  • Page 11 2. Connect the Raspberry Pi Camera and the Raspberry Pi. Assemble the following components...
  • Page 12 The two plugs of 3-Pin Wire are small plugs Wires are connected to the input of Car Light (the end marked with a white strip pattern)

  • Page 13: Servo Debugging

    2.2. Servo debugging. Fix four M2.5x10+6 Copper Standoffs on Raspberry Pi. insert the Adeept Motor HAT into Raspberry Pi. Assemble the following components M2.5x4 Screw Raspberry Pi x1 Adeept Motor HAT x1 M2.5x14 Copper Standoff x4 M2.5x10+6 Copper Standoff x4...
  • Page 14 Connect the driver board to mpu-6050. M2.5*4 screw MPU-6050 M2.5x11 Copper Standoff Effect diagram after assembling...
  • Page 15 3. Connect the 18650 Battery Holder Set to the Adeept Motor HAT. Note that the switch is "OFF".

  • Page 16: Install And Remove Batteries

    2.3.Install and Remove Batteries Take out 2 ribbons and 2 batteries. Roll one end of the ribbon to let through a battery and fix. Insert the batteries into the rings-ribbon closer to the anode. Install the batteries into the holder based on the pole.
  • Page 17 4. Connect servos to Adeept Motor HAT. The color of the servo wire corresponds to the color of the port. Connect the servo to pwm0-13 on the Motor HAT.
  • Page 18 4. Before switching on, you need to insert the configured SD card into the Raspberry Pi. For details, please refer to the third chapter of the document. Otherwise, the servo will not rotate to the middle position after booting. In the next installation, the servos need to be connected to the robot HAT.

  • Page 19: 4 Install The Arm

    2.4 install the arm Fix a rocker arm to the acrylic plate. Assemble the following components Single Rocker arm x6 M1.7*6*6 self-tapping screw Effect diagram after assembling...
  • Page 20 Assemble the following components Effect diagram after assembling 4 foot M1.7*6*6 Rocker Self-tapping arm x6 screw Assemble the following components Effect diagram after assembling M1.7*6*6 Self-tapping Single Rocker screw arm x1...
  • Page 21 Assemble the following components Self-tapping M1.4*6 screws Car light X 2 Effect diagram after assembling...

  • Page 22: Install The Feet

    2.5 install the feet Fix a debugged servo to the acrylic plate. Assemble the following components M2 Nut M2*8 Screw Servo x1 Effect diagram after assembling...
  • Page 23 Assemble the following components Single Rocker arm x1 M1.7*6*6 Self-tapping screw Effect diagram after assembling...
  • Page 24 Fix a debugged servo to the acrylic plate. Assemble the following components M2 Nut Servo x1 M2*8 Screw Effect diagram after assembling...
  • Page 25 Assemble the following components M3*10 Screw M3 Nut Effect diagram after assembling...
  • Page 26 Fix Robot feet Assemble the following components M2.5*8 Screw The foot of the robot Effect diagram after assembling Install the servo and the acrylic plate on the right foot opposite from the ones on the left foot.
  • Page 27 2.3 install the Camera Fix Raspberry Pi Camera on Acrylic Plates Assemble the following components Raspberry Pi Camera M1.4*6 Self-tapping screws X4 Effect diagram after assembling...
  • Page 28 Pi Camera Assemble the following components M3 Nut M3*10 Screw Effect diagram after assembling...
  • Page 29 Assemble the following components M2 Nut M2*8 Screw Servo x1 Effect diagram after assembling...
  • Page 30 Assemble the following components M2 Nut M3 Nut M2*8 Screw M3*10 Screw Effect diagram after assembling...
  • Page 31 Pi Camera Connect Assemble Assemble the following components M2.5*8 Screw Effect diagram after assembling...
  • Page 32 Acrylic Plates Fix car light on Assemble the following components Car light M1.4*6 Self-tappin g screws X4 Effect diagram after assembling...
  • Page 33 Assemble the following components M3*8 Countersunk Head Screw 18650 Battery Holder Set X1 M3 Nut Effect diagram after assembling...
  • Page 34 Assemble the following components Raspberry Pi M2.5*8 Screw Effect diagram after assembling...
  • Page 35 Assemble the following components M3*40 nylon Standoff M3*8 Screw Effect diagram after assembling...
  • Page 36 Assemble the following components M2.5*8 Screw Effect diagram after assembling...
  • Page 37 When connecting the servo to the acrylic plate, connect the wiring to PWM interface, the driver board will automatically check the position of the servo. Pay attention to the installation angle when installing the servo.
  • Page 38 The corresponding PWM numbers of the driver board to the servos. The body...
  • Page 39 Servo interfaces...
  • Page 40 Assemble the following components M3*8 Screw Effect diagram after assembling...
  • Page 41 Assemble the following components M3*8 Screw M3*15 Nylon Standoff x4 Effect diagram after assembling...
  • Page 42 Assemble the following components M2.5*8 Screw Effect diagram after assembling...
  • Page 43 Assemble the following components M3*8 Screw M3 Nut Effect diagram after assembling...
  • Page 44 Installation method one (suitable for flat road surface). Installation method two suitable for uneven road surface .

  • Page 45: Afterword

    Software Installation You can Find general video tutorials for the software installation section in： https://www.adeept.com/video/detail-30.html Raspberry Pi system installation & setup Download image file of Raspberry Pi system (Raspbian) First we need to log in to the Raspberry Pi official website to download...
  • Page 46 Burn the Raspberry Pi system (Raspbian) into SD card First, insert the SD card into the card reader, then connect the card reader to the computer, run Win32 Disk Imager, select the drive letter of the SD card in the Device on the right. Do not choose the wrong, because the next operation will burn the Raspberry Pi system in the selected drive letter, and delete all the files in that drive letter.
  • Page 47 Enable the SSH service of Raspberry Pi and set WIFI for Raspberry Pi The way we use does not need to set up the Raspberry Pi with peripherals such as display and keyboard. While waiting for the Raspberry Pi system to write to the SD card, you can proceed to prepare two files and copy the two files to the SD card to be burned with the Raspberry Pi system.
  • Page 48 Where country = US is area setting , you can leave it unchanged; Change WIFI of ssid = "WIFI" to the name of your own WIFI (the name of the WIFI that the Raspberry Pi needs to connect automatically when booting); Change PASSWORD of psk= “PASSWORD”...
  • Page 49 Choose the free version. Download portable edition, so that to directly unzip and use after downloading. Install robot programs in Raspberry Pi Insert the SD card that was previously burned into the Raspberry Pi system and copied with the ssh and wpa_supplicant.conf files into the Raspberry Pi, and then power the Raspberry Pi.
  • Page 50 driver board (Robot HAT), you can power the Raspberry Pi driver board and the Raspberry Pi through the micro USB interface on the driver board, or power the Raspberry Pi through connecting the power interface on the driver board to the battery holder with lithium batteries.
  • Page 51 When entering the password, the password or * will not displayed on the screen, but it does not mean that the password was not entered successfully. After entering, press Enter to log in to the Raspberry Pi. This session is saved in the left column (Fig. ② below). The next time you connect the Raspberry Pi, just double-click here to connect the Raspberry Pi again.
  • Page 52 First, download the product project (software package) in the Raspberry Pi terminal. Enter the following command (Note that all lowercase input must be used): sudo git clone https://github.com/adeept/adeept_raspclaws.git Then install (note that python3 command must be used, the same below): sudo python3 adeept_raspclaws/setup.py...
  • Page 53 Install the robot program on PC Download address: https://github.com/adeept/adeept_raspclaws Click Clone or download - Download ZIP Download and unzip. There is a client folder in the unzipped folder. This folder contains the program of the robot product on the PC.
  • Page 54 Click Downloads->Download Python 3.7.0. After downloading Python, double-click the installation package to install it. When installing Python, be sure to select Add python to PATH, as shown in the following figure: Install Numpy NumPy is a basic software package for scientific computing with Python. OpenCV needs its related functions.
  • Page 55 After clicking "OK", the CMD interface will pop up, as shown below: Enter: pip3 install numpy Then press Enter to start downloading and installing Numpy. Download opencv_python.whl and install OpenCV Download address: https://www.lfd.uci.edu/~gohlke/pythonlibs/#opencv After getting to this page, you may need to manually enter "#opencv" after the URL to redirect to the location where opencv is located.
  • Page 56 Choose the version to download here. 4.2.0 is the latest version of opencv when this document was made; cp37 corresponds to python3.7 installed on the computer; amd64 corresponds to 64-bit python. Depending on the version of python you download, you may need to choose a different version of opencv.
  • Page 57 The Users directory of each computer may not be the same. You can find the location of your Users directory in the command line window that opened by pressing + R and typing cmd. Install OpenCV Enter the following command in cmd: pip3 install opencv_python Then press TAB, the computer will automatically complete the remaining file names, as shown below:...
  • Page 58 automatically every time you turn it on), enter the IP address of the Raspberry Pi in the GUI control terminal on the PC, and then click Connect to control the robot. The specific control method of the GUI can be found on the latter part of the manual.
  • Page 59 open the file. File modifying and saving The editing method after opening the file is the same as usual (it uses the editor that comes with MobaXterm by default). The only thing to note is that when you save the file, MobaXterm will prompt you if you want to synchronize the files in the Raspberry Pi.
  • Page 60 GUI tutorial The GUI is a graphical interface that runs on the PC for robot control. It is contained in the client directory of the package, and is usually called GUI.py. If you installed python according to the manual, just double-click GUI.py to open it. Depending on the product, the GUI is also composed of different modules and windows.
  • Page 61 The picture captured by the camera will be displayed. Depending on the product type, the window rendering method may be different, and some products can also interact with this window. IP address input box Enter the IP address of Raspberry Pi here and click Connect to connect the GUI to the Raspberry Pi.
  • Page 62 displayed. Movement control Back and forth, left and right movement control. Other GUI modules Most GUI modules and windows will only appear on products with certain features. Color space video streaming window The picture captured by the camera is converted to the HSV color space mode. The difference between colors in this mode is shown in red and green, which makes it easy to observe the performance under the color tracking function.
  • Page 63 Potentiometer port switch Control the on and off of port1, port2 and port 3 on the development board. If you turn on an interface, the Raspberry Pi will provide 3.7V power for this interface. Note: In order to avoid damaging the development board or the Raspberry Pi, do not connect overloaded components to these three interfaces.
  • Page 64 StandUp and StayLow: Control the spider robot to stand and lie down. Lean-L and Lean-R: roll left and right Left and Right: Tilt left and right Up and Down: control the standing height Ultrasonic radar 扫描后： After scanning: Before scanning: Showing the results of an ultrasound scan.
  • Page 65 Used to correct the deviation angle of the servo. Drag the slider to fine-tune the servo angle, and click Save as Default to save the current servo position as the default position. Function button group A considerable part of the functions of the robot are controlled by a single button. For the aesthetic of the GUI, these function buttons are grouped together to form a function button group.
  • Page 66 Camera After enabling, the robot will stabilizing automatically adjust the attitude of the camera to keep it in the horizontal position when turned on. Gait switching Specific function for quadruped spider robots. After enabling, it is switched to diagonal gait (the default is triangle gait). Self-stabilizing Specific function for spider robots.
  • Page 67 Exposure adjustment module Used to adjust the exposure of the camera. It is mainly used in conjunction with the visual line tracking mode. You can adjust the exposure value to make the robot better recognize the line to be tracked. You can turn on video rendering to see the effect of setting exposure values on robot tracking.
  • Page 68 Common issues Q: Setup.py disconnects during runtime? A: setup.py will restart automatically after execution. Check to if there is a restart line on the console. If so, the installation program has been executed. Q: Errors prompt up when running setup.py? A: An error may occur during the installation process, which is not necessarily a problem during the installation process.
  • Page 69 do not move the ssh or wpa_supplicant.conf files to the SD card. This will prevent the Raspberry Pi connecting to wifi. Q: without permission to modify or delete files? A: Use the command 'sudo chmod 777 [file name]' to open the permissions of the files.
  • Page 70 After completing all projects in the guide, you should have some knowledge of the Raspberry Pi and Robot, thus you can try to change the robot into other projects by adding more Adeept modules or changing the code for extended functions.
  • Page 71 www.adeept.com...

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