SunFounder Bionic Robot Lizard Manual
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SunFounder Bionic Robot Lizard Manual

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About SunFounder
SunFounder is a technology company focused on Raspberry Pi and Arduino open source
community development. Committed to the promotion of open source culture, we strive to
bring the fun of electronics making to people all around the world and enable everyone to be a
maker. Our products include learning kits, development boards, robots, sensor modules and
development tools. In addition to high quality products, SunFounder also offers video tutorials
to help you build your own project. If you have interest in open source or making something
cool, welcome to join us! Visit
About This Kit
In this book, we will show you how to build the bionic robot via description, illustrations of
physical components, in both hardware and software respects. You may visit our
website
www.sunfounder.com
on
LEARN -> Get Tutorials
Free Support
If you have any TECHNICAL questions, add a topic under
website and we'll reply as soon as possible.
For NON-TECH questions like order and shipment issues, please
service@sunfounder.com. You're also welcomed to share your projects on FORUM.
Preface
www.sunfounder.com
to download the related code and view the user manual
and watch related videos under VIDEO.
for more!
FORUM
www.sunfounder.com
section on our
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Summary of Contents for SunFounder Bionic Robot Lizard

  • Page 1 Preface About SunFounder SunFounder is a technology company focused on Raspberry Pi and Arduino open source community development. Committed to the promotion of open source culture, we strive to bring the fun of electronics making to people all around the world and enable everyone to be a maker.

  • Page 2: Table Of Contents

    Mechanical Fasteners ............................2 Electrical Components ............................3 Introduction ..................................5 Get Started ..................................6 Arduino ..................................6 Arduino Board – SunFounder Compatible ..................6 Install Arduino IDE ............................6 Install the Driver ............................7 Add Libraries..............................7 Test ...................................... 9 Assembly ..................................

  • Page 3: Components List

    Components List Acrylic Plate You need to clean the acrylic plates before using. Here takes one plate as example. Clean the residue by a tool with sharp Remove the stickers on the two faces of point. the plate.

  • Page 4: Mechanical Fasteners

    Mechanical Fasteners Name Components Qty. M1.2 x 4mm Self-tapping Screw M2 x 10 Screw M2 x 14 Screw M2.5 x 8 Screw M2.5 x 10 Screw M3 x 6 Screw M3 x 12 Screw M2 Nut M2.5 Nut M3 Self-locking Nut M2.5*13 Copper Standoff...

  • Page 5: Electrical Components

    Electrical Components Name Components Qty. 9g SF0180 Servo Nano board Expansion board 2S battery Cable Spiral Wrap Velcro Tape （Length 35mm） Mini USB Cable...
  • Page 6 IR Remote Control IR Receiver Module 3Pin-Anti-reverse Cable 2S Lithium Battery USB Charger Cable Phillips Screw Driver Cross Socket Wrench...

  • Page 7: Introduction

    Introduction This is a bionic robot - Lizard. It is control walking by three servos, the walking shape is imitate Lizard and looks flexible and vivid. Infrared module is equipped, you can control the Lizard walk by the remote controller.

  • Page 8: Get Started

    Arduino senses the environment by receiving inputs from many sensors, and affects its surroundings by controlling lights, motors, and other actuators. In this kit, the SunFounder Nano board is used. Install Arduino IDE The code in this kit is written based on Arduino, so you need to install the IDE at the very beginning.

  • Page 9: Install The Driver

    Find the one that suits your operation system and click to download. There are two versions of Arduino for Windows: Installer or ZIP file. You're recommended to download the former. Just download the package, and run the executable file to start installation. It will download the driver needed to run Arduino IDE.
  • Page 10 2) Input IRremote, then the library will appear, click Install button to install it. You can see the libraries just imported have appeared on the list by going to Sketch->Include Library->IRremote.

  • Page 11: Test

    Test Build Circuit 1) Insert SunFounder Nano board into the Sensor Shield. Note: The USB port should be at the same side with blue power supply terminal. 2) Insert the battery JST female pin into the red power of the Sensor Shield.
  • Page 12 Pay attention to the colors and the directions of the anti-reverse cable. Upload the code 4) If everything looks good, connect the Sensor Shield to your PC with a USB cable, then the blue LED on SunFounder Nano board will light up. If there display “USB Device not recognized”, it means that you haven’t installed the driver, thus you...
  • Page 13 6) Select a board. Here we select Arduino Nano. The Processor is ATmega328. 7) Go to Tools -> Port to select the port. Your serial port may be different from what's shown here (right-click My Computer on desktop, click Properties>Device Manager>Ports).
  • Page 14 9) Wait for a moment until the following information appears at the bottom of the window, which indicates it is uploaded successfully. Servo Test 10) Switch on the power, you will find the 3 servos rotate from 0 degree to 180 degree and then stop at 90 degree.
  • Page 15 12) Comment line 31 by “//”, uncomment line 32 and then upload the code again. 13) Open the Serial Monitor on the top-right of Arduino IDE, held and press the button of the IR Remote Controller toward IR receive module.

  • Page 16: Assembly

    Assembly Note：In order to conveniently recognize, here number every acrylic plate as shown below. In the following description, the number will be used. There is an independent picture of the following one, you can refer to Acrylic Plate.png. Assemble the forefeet 2) Insert the plate into the 12.
  • Page 17 3) Connect these two components with an 4) It looks as the picture shown below M2.5x10 screw and an M2.5 nut. after assembling. 5) Assemble the other forefoot at the same way. 7) Fasten the self-tapping screw. 6) Assemble the rocker arm (packaged with the...

  • Page 18: Assemble The Back Feet

    8) Fix plate by M2.5 x 10 screw and 9) Fasten the screw and nut. Note：Plate M2.5 nut. with white rocker arm side should be Downward. 10) Assemble the other foot at the same way. 11) Top view. Assemble the back feet...
  • Page 19 3) Fix them by M2.5x10 screw and M2.5 nut. 4) After assembling, it looks as shown below. 5) Assemble the other two back feet at the same way, you will find the two back feet are in opposite direction.

  • Page 20: Lizard Body

    8) Fix the plate by M2.5x10 screw and 9) Fasten the screw and nut M2.5 nut. Note：Plate with white rocker arm side should be Downward. 10) Assemble the other foot at the same way. 11) Top view Lizard body...
  • Page 21 2) Assemble the servo onto the plate 7, then assemble them with plate 3) After assembling, it looks as shown below: Note：1）servo axis should be upward; 2）Plain side of plate 7 should be downward 4) Insert the M2 x 14 screw and M2 nut as shown below:...
  • Page 22 5) Fasten the M2.5 x 8mm screw and M2.5 x 13mm Bi-pass copper standoff into the plate 4. 6) After assembling, it looks as shown below: Top view 7) Connect the following plate with servo screws.(Packaged with the servo, the servo screws are...

  • Page 23: Assemble Head And Neck

    8) Assemble the acrylic plate by M2 x 14 screw and M2 nut. Assemble head and neck 1) Assemble the servo onto the acrylic plate by the M2 x 10 screw and M2 nut. Use M2 x 10 screw and M2 nut to combine the servo to acrylic plate.
  • Page 24 3) Fasten the following plate with servo screw. 4) After assembling, it looks as shown below: Top view Note: The feet should be forward. 6) Fasten them with M2.5x10 screw and Insert the acrylic plate 8. M2.5 nut.
  • Page 25 7) Assemble the rocker arm (packaged with the servo) to the acrylic plate 5, then connect them by M1.2 x 4mm self-tapping screw. 8) Connect the acrylic plate with M2.5 x 10mm screw and M2.5 nut. 9) Fasten the following plate with servo screw.
  • Page 26 10) Insert the plate into the plate Note: Be careful, in case of breaking the acrylic plate. 11) After assembling, it looks as shown below: 12) Fasten them with M2.5x10 screw and M2.5 nut.

  • Page 27: Body+Head+Limb+Tail

    Body+ head+ limb+ tail 1) Insert the three acrylic plate together into the aluminum standoff in the order as shown below: 2) Fix the aluminum standoff by M3 x 6mm screw. 3) Insert the acrylic plate 9.
  • Page 28 4) After inserting, use M2.5 x 10mm screw and M2.5 nut to fix it. 5) Connect the acrylic plate 10, with M3 x 12mm screw and M3 self-locking nut. 6) Tighten the other screw and nut. Note：Self-locking screw do not need to be tightened...

  • Page 29: Assemble Expansion Board

    Assemble expansion board 1) Connect the Sensor Shield into the copper standoff by M2.5 x 8mm screw. 2) Insert the three servos into the Sensor Shield, the numbers on the servos are as shown below. Insert the 1 servo to the pin 2, 2 servo to pin 3, 3 servo to the pin 4, and IR receiver module to pin 5.
  • Page 30 3) Stick the Velcro to the plate 3.
  • Page 31 4) Stick the batteries on the Velcro. 5) Connect the battery case and the Sensor Shield together. 6) In order to be clean, you can tie all the wires together by cable pipe.

  • Page 32: Adjusting

    Adjusting In the process of assembling, there may occur the two feet are not on the ground or inclined to another direction, thus you can adjust by the way as shown below: Case 1: The forefeet are inclined 1） The left foot is in front, but the right one is behind Step 1: Open Lizard_robot.ino file under the path Bionic Robot Kit for Arduino -...
  • Page 33 Step 3: Upload the code to the Sensor Shield. If it looks still inclined then continue to decrease until it looks vertical to its body. 2） The left foot is behind but the right is in front. You need to increase the value of the first servo.

  • Page 34: Case 2: The Back Foot Is Inclined

    Case 2: The back foot is inclined 1） The left foot is in front, the right foot is behind The back leg is controlled by servo 3, when the left leg is in front but the right one is behind, the third value in the array need be decreased.

  • Page 35: Case 3: The Lizard Can't Stand Steadily

    Increase the value of the third 90 in the array. Case 3: The Lizard can’t stand steadily When the head is deviation counter-clockwise and one of the forefoot can’t stand steadily, the second 90 in the array need to be decrease.
  • Page 36 If it is clockwise, the second 90 need to be increased. When finishing adjusting, you can control the Lizard by remote controller. Now the Lizard is complete adjust, you can use the remote controller to control the Liard moving.
  • Page 37 All contents including but not limited to texts, images, and code in this manual are owned by the SunFounder Company. You should only use it for personal study, investigation, enjoyment, or other non-commercial or nonprofit purposes, under the related regulations and copyrights laws, without infringing the legal rights of the author and relevant right holders.

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