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Makefun Insect-Robot Instruction Manual

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Insect-Robot Instruction Manual
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Summary of Contents for Makefun Insect-Robot

  • Page 1 Make you ideal fun Insect-Robot Instruction Manual...

  • Page 2: What You'll Learn

    Make you ideal fun Insect Robot 1.0 What You’ll Learn In this project, you’ll create an Insect Robot that walks forward on four legs. Actually it's not really an insect because it only has four legs, insects does have six legs, right? However, the robot got the name because of its shape with the thin wire legs and the infrared sensor as eyes .
  • Page 3 Make you ideal fun Picture-2 Device list and physical connection To start program, a Mini USB data line and a computer are needed.After the assembly is completed , you need to use the Arduino IDE to burn the code. Please refer to《How to start.pdf》...

  • Page 4: Components Introduction

    Make you ideal fun 2.0 Components Introduction 2.1 Arduino Nano The arduino Nano is an ultra-small simple I/O platform based on open source code,it has a big advantage in size compared with UNO R3 board. Figure-3 2.2 Servo Motor Servo motors come in different sizes and prices and are based on different technologies. In this context, we are talking about micro servos, which usually used in R/C toys.
  • Page 5 Make you ideal fun Figure-4 2.3 SHARP GP2Y0A41SK0F GP2Y0A41SK0F is a distance measuring sensor unit, composed of an integrated combination of PSD (position sensitive detector) , IR-LED (infrared emitting diode) and signal processing circuit. The variety of the reflectivity of the object, the environmental temperature and the operating duration are not influenced easily to the distance detection because of adopting the triangulation method.
  • Page 6 Make you ideal fun 3.0 Assembly Through the above steps, we have learned about the devices, functions, parameters and schematic diagrams of insect robots. Now let’s start to assemble. 3.1 Fixed two SG90 Figure-6 Gluing the two servo motor together with cable Figure-7...
  • Page 7 Make you ideal fun Tying the servo motor tightly with cable tie and cut out the excess. Figure-8 Put a foam on the top of the servo (at A of Figure 9), which is used to support the NANO main control board , as shown in Figure 10.
  • Page 8 Make you ideal fun Figure 10 3.2 Making infrared sensor fixed frame Cut the paper to the shape and size as figure 11 shown.
  • Page 9 Make you ideal fun Figure 11 Bend the cutted paper into the shape as figure 12. Figure 12...
  • Page 10 Make you ideal fun Install the paper on the servo as figure 13. Figure 13 Fix the paper with cable tie as figure 14. Figire 14...
  • Page 11 Make you ideal fun Install the Nano board on the servo as figure 15 but don’t fix. Figure 15...
  • Page 12 Make you ideal fun 3.3 Install infrared sensor Use the blue cable tie to tie as figure 16，figure17. Figure 16 Figure 17...
  • Page 13 Make you ideal fun 3.4 Making mechanical feet Step 1:Bend the iron wire to V shape as figure 18，then use plier to bend 90 degrees at the position about 1cm from the previous bend as figure 19 figure 20 . Figure 18 Figure 19...
  • Page 14 Make you ideal fun Figure 20 Step2： Pass the 2 feet of the wire through the two holes of the steering wheel. Figure 21 Step3：Use the pliers to bend the two legs of the wire to the other end of the sharp corner as figure 22; Note: Sharp-nose pliers is recommended to avoid breaking the white support.
  • Page 15 Make you ideal fun Figure-22 bending, The front leg is completed as Figure-23, and behind legs as Figure -24. Figure-23...
  • Page 16 Make you ideal fun Figure-24 Through the above steps, you have completed the general look of the mechanical legs, Finally, the front and back legs bent, we can refer to the size shown in the figure on the wire Figure ut "shoes"...
  • Page 17 Make you ideal fun Figure-26 Finally, install the robot feet on the steering gear, if you correctly installed and completed the above steps, the worm robot can stand up as shown in Figure 27 Figure-27...
  • Page 18 Make you ideal fun 3.5 Making Wire 3.5.1 Making Power Cords Figure-28 Firstly,cut the Gong Dupont line in Figure 28 from the middle, and remove the end of the Mother DuPont line, as shown in Figure 29. Figure-29...
  • Page 19 Make you ideal fun Connect the wires together as shown in Figure 30, and weld the wires with electrical iron. Figrure -30 Use the heat shrinkable tube to bind the conductor interface, as shown in Figure31. Figure-31...
  • Page 20 Make you ideal fun 3.5.2 Rectifing the servo wire Figure-32 First remove the 3P black connector terminal that comes with the servo cable, as shown in Figure 32. After removal, as shown in Figure 33. Figure-33...
  • Page 21 Make you ideal fun Then install the matching single black terminals, as shown in Figure 34, after the installation is complete as shown in Figure 35 Figure-34 Figure-35...

  • Page 22: Battery Installation

    Make you ideal fun 3.6 Battery Installation Note: In order to facilitate the installation,you can remove the installed Nano main control board from the servo.Firstly, put two pieces of foam paper on the Nano board,as show in Figure 36. Figure-36 Then put the battery flat on the foam cardboard, as shown in Figure 37.
  • Page 23 Make you ideal fun Tie the battery and the NANO board together with a cable tie, as shown in Figure38. Servo-38 When finished, reinstall the Nano board onto the servo, as shown in Figure 39. Figure-39...
  • Page 24 Make you ideal fun 3.7 Wiring of Circuit Funduino Nano Front Servo data Funduino Nano data Funduino Nano Infrared Sensor data Funduino Nano Battery Figure-40 Circuit connection diagram...
  • Page 25 Make you ideal fun 3.8 Adjusting servo angle ServoTest”, and download the Open the matching program, the folder is called "Servo Motor\ServoTest\ program to the NANO board, ensuring that the initial status of both servos is 90° . Open the program as shown in Figure 41.
  • Page 26 Make you ideal fun Figrue-42 If your mechanical foot is installed correctly, when the servo is rotated to 90° , the mechanical foot should be in the horizontal state, as shown in Figure 43. If it is not in the horizontal state, please rotate the servo to 90° and then adjust the mechanical foot.
  • Page 27 Make you ideal fun Figure-43...
  • Page 28 Make you ideal fun After adjusting the angle, you can completely fix the forefoot Figure-44...
  • Page 29 Make you ideal fun Finally,a lovely worm robot was born, download the program to the NANO board, connect to power, and start a new trip . Note: If the robot walks slowly or the posture is very unstable, the wire bending angle and height, direction and so on need to be properly adjusted.
  • Page 30 Make you ideal fun Programming Step1: Arduino IDE, a programming software, is required to be installed into your computer. If already installed, please skip this step. The software can be obtained from https://www.arduino.cc/en/Main/Software Step2: Choose “Arduino Nano” in Tools/Board...
  • Page 31 Make you ideal fun Step3: In the device manager of the Windows control panel, locate the port corresponding to Arduino Nano, such as COM15.
  • Page 32 Make you ideal fun In the following Arduino programming software Tools/Port, selecting the port number you have found, such as COM8.
  • Page 33 Make you ideal fun Step4: Open the Insect_Robot.ino program file, and then click to check the program. Finally, click on to upload the program into the controller. The white LED on the controller blinks for about 2 seconds, and the lower end of the window shows Done Uploading, indicating that the program has been uploaded successfully.
  • Page 34 Make you ideal fun Code // Servo Library #include <Servo.h> // Servo name Servo frontServo; Servo rearServo; // time delay between steps walkSpeed = 500; // center servos centerPos = 90; // servo angles for walking pattern frontRightUp = 70; frontLeftUp = 110;...
  • Page 35 Make you ideal fun sensorPin = A1; // distance value for danger close. Bigger values are greater distance and smaller values are lower distance dangerDistance = 350; /* Setup function */ void setup() // attach servos frontServo.attach(12); rearServo.attach(13); // assign sensor pinMode(sensorPin, INPUT);...
  • Page 36 Make you ideal fun distance (collectDistance[0]+collectDistance[1]+collectDistance[2]+collectDista nce[3]+collectDistance[4])/5; delay(20); // walk forward void moveForward() // loop for the servo angels to smoothen the steps = 0; < 39; f++){ frontRightUp++; backLeftForward--; frontServo.write(frontRightUp); rearServo.write(backLeftForward); delay(10); // loop for the servo angels to smoothen the steps = 0;...
  • Page 37 Make you ideal fun delay(80); frontServo.write(frontLeftUp+9); rearServo.write(backLeftForward-6); delay(110); frontServo.write(centerPos); rearServo.write(centerPos); delay(80); // walk forward to the left void moveTurnLeft() frontServo.write(frontTurnRightUp); rearServo.write(backTurnLeftForward); delay(110); frontServo.write(centerTurnPos); rearServo.write(centerTurnPos); delay(80); frontServo.write(frontTurnLeftUp); rearServo.write(backTurnRightForward); delay(110); frontServo.write(centerTurnPos); rearServo.write(centerTurnPos); delay(80); // blink LED. This function can be called in any situation you want. Just add led();...
  • Page 38 Make you ideal fun // that's the loop. This is repeatedly called as long as the robot is powered void loop() // call function for checking the distance scan(); //Serial.println(distance); (distance > 1){ // filters out the zero readings // an obstacle is being detected (distance >...